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Copter: Add an element of NAV_CONTROLLER_OUTPUT to ZIGZAG mode #17456

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Copter: Add an element of NAV_CONTROLLER_OUTPUT to ZIGZAG mode #17456

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3 changes: 3 additions & 0 deletions ArduCopter/mode.h
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Expand Up @@ -1570,6 +1570,9 @@ class ModeZigZag : public Mode {

const char *name() const override { return "ZIGZAG"; }
const char *name4() const override { return "ZIGZ"; }
uint32_t wp_distance() const override { return wp_nav->get_wp_distance_to_destination(); }
int32_t wp_bearing() const override { return wp_nav->get_wp_bearing_to_destination(); }
float crosstrack_error() const override { return wp_nav->crosstrack_error(); }
Comment on lines +1573 to +1575
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We should send back zero for all of these while in the pilot-controlled aspect of zigzag.


private:

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