Added NAV_HYBRID_GOTO_MODE as suggested

sw/airborne/modules/nav/nav_rotorcraft_hybrid.c

@@ -83,9 +83,10 @@ float nav_hybrid_pos_gain = 1.0f;
 bool force_forward = 0.0f;
 #endif
 
-#ifndef NAV_OPTITRACK
-#define NAV_OPTITRACK FALSE 
+#ifndef NAV_HYBRID_GOTO_MODE
+#define NAV_HYBRID_GOTO_MODE NAV_SETPOINT_MODE_SPEED
 #endif
+
 /** Implement basic nav function for the hybrid case
  */
 
@@ -123,13 +124,7 @@ static void nav_hybrid_goto(struct EnuCoor_f *wp)
 
   VECT2_COPY(nav.speed, speed_sp);
   nav.horizontal_mode = NAV_HORIZONTAL_MODE_WAYPOINT;
-
-  // In optitrack tests use position mode for more precise hovering
-  if (NAV_OPTITRACK){
-    nav.setpoint_mode = NAV_SETPOINT_MODE_POS;
-  }else{
-    nav.setpoint_mode = NAV_SETPOINT_MODE_SPEED;
-  }
+  nav.setpoint_mode = NAV_HYBRID_GOTO_MODE;
 }
 
 static void nav_hybrid_route(struct EnuCoor_f *wp_start, struct EnuCoor_f *wp_end)