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Copter: report NAV_CONTROLLER_OUTPUT in RTL, Guided

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This allows the GCS to display to the user where the vehicle is flying
to in RTL and Guided flight modes
This commit is contained in:
Randy Mackay 2015-01-06 16:38:34 +09:00
parent 1266a31631
commit 4033f11a3c
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/navigation.pde
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@ -38,7 +38,7 @@ static void calc_wp_distance()
// get target from loiter or wpinav controller // get target from loiter or wpinav controller
if (control_mode == LOITER || control_mode == CIRCLE) { if (control_mode == LOITER || control_mode == CIRCLE) {
wp_distance = wp_nav.get_loiter_distance_to_target(); wp_distance = wp_nav.get_loiter_distance_to_target();
}else if (control_mode == AUTO) { }else if (control_mode == AUTO || control_mode == RTL || (control_mode == GUIDED && guided_mode == Guided_WP)) {
wp_distance = wp_nav.get_wp_distance_to_destination(); wp_distance = wp_nav.get_wp_distance_to_destination();
}else{ }else{
wp_distance = 0; wp_distance = 0;
@ -51,7 +51,7 @@ static void calc_wp_bearing()
// get target from loiter or wpinav controller // get target from loiter or wpinav controller
if (control_mode == LOITER || control_mode == CIRCLE) { if (control_mode == LOITER || control_mode == CIRCLE) {
wp_bearing = wp_nav.get_loiter_bearing_to_target(); wp_bearing = wp_nav.get_loiter_bearing_to_target();
} else if (control_mode == AUTO) { } else if (control_mode == AUTO || control_mode == RTL || (control_mode == GUIDED && guided_mode == Guided_WP)) {
wp_bearing = wp_nav.get_wp_bearing_to_destination(); wp_bearing = wp_nav.get_wp_bearing_to_destination();
} else { } else {
wp_bearing = 0; wp_bearing = 0;