From d88e12b206f2e42deb5baeebe10c44a1235f3080 Mon Sep 17 00:00:00 2001
From: Peter Hall <33176108+IamPete1@users.noreply.github.com>
Date: Fri, 23 Aug 2019 11:49:34 +0100
Subject: [PATCH] Rover: mode: use oa_wp_bearing_cd

---
 APMrover2/mode.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/APMrover2/mode.cpp b/APMrover2/mode.cpp
index 71ff592639..fc3101d1c8 100644
--- a/APMrover2/mode.cpp
+++ b/APMrover2/mode.cpp
@@ -394,7 +394,7 @@ void Mode::navigate_to_waypoint()
     desired_speed = calc_speed_nudge(desired_speed, g2.wp_nav.get_reversed());
     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)) {
         // sailboats use heading controller when tacking upwind
         desired_heading_cd = g2.sailboat.calc_heading(desired_heading_cd);