AC_Circle: fixes from lthall

ArduPilot · Sep 16, 2024 · 28680c5 · 28680c5
1 parent aaf35bd
commit 28680c5
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp
@@ -200,7 +200,7 @@ bool AC_Circle::update(float climb_rate_cms)
         target.y += - _radius * sinf(-_angle);
 
         // heading is from vehicle to center of circle
-        _yaw = get_bearing_cd(_inav.get_position_xy_cm() - _pos_control.get_pos_offset_cm().xy().tofloat(), _center.tofloat().xy());
+        _yaw = get_bearing_cd(_pos_control.get_pos_target_cm().xy().tofloat(), _center.tofloat().xy());
 
         if ((_options.get() & CircleOptions::FACE_DIRECTION_OF_TRAVEL) != 0) {
             _yaw += is_positive(_rate)?-9000.0f:9000.0f;