mirror of https://github.com/ArduPilot/ardupilot
Copter: report NAV_CONTROLLER_OUTPUT in RTL, Guided
This allows the GCS to display to the user where the vehicle is flying to in RTL and Guided flight modes
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@ -38,7 +38,7 @@ static void calc_wp_distance()
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// get target from loiter or wpinav controller
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if (control_mode == LOITER || control_mode == CIRCLE) {
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wp_distance = wp_nav.get_loiter_distance_to_target();
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}else if (control_mode == AUTO) {
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}else if (control_mode == AUTO || control_mode == RTL || (control_mode == GUIDED && guided_mode == Guided_WP)) {
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wp_distance = wp_nav.get_wp_distance_to_destination();
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}else{
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wp_distance = 0;
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@ -51,7 +51,7 @@ static void calc_wp_bearing()
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// get target from loiter or wpinav controller
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if (control_mode == LOITER || control_mode == CIRCLE) {
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wp_bearing = wp_nav.get_loiter_bearing_to_target();
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} else if (control_mode == AUTO) {
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} else if (control_mode == AUTO || control_mode == RTL || (control_mode == GUIDED && guided_mode == Guided_WP)) {
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wp_bearing = wp_nav.get_wp_bearing_to_destination();
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} else {
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wp_bearing = 0;
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