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Rover: mode: use oa_wp_bearing_cd

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Peter Hall 2019-08-23 11:49:34 +01:00 committed by Randy Mackay
parent db87285153
commit d88e12b206
1 changed files with 1 additions and 1 deletions
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2
APMrover2/mode.cpp
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@ -394,7 +394,7 @@ void Mode::navigate_to_waypoint()
desired_speed = calc_speed_nudge(desired_speed, g2.wp_nav.get_reversed()); desired_speed = calc_speed_nudge(desired_speed, g2.wp_nav.get_reversed());
calc_throttle(desired_speed, true); calc_throttle(desired_speed, true);
float desired_heading_cd = g2.wp_nav.wp_bearing_cd(); float desired_heading_cd = g2.wp_nav.oa_wp_bearing_cd();
if (g2.sailboat.use_indirect_route(desired_heading_cd)) { if (g2.sailboat.use_indirect_route(desired_heading_cd)) {
// sailboats use heading controller when tacking upwind // sailboats use heading controller when tacking upwind
desired_heading_cd = g2.sailboat.calc_heading(desired_heading_cd); desired_heading_cd = g2.sailboat.calc_heading(desired_heading_cd);