From 6d74b390d99f49447a9518fc0278656b38fae41f Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Fri, 16 Jul 2021 11:44:09 +0200
Subject: [PATCH] vmount: use absolute angle for location tracking

I'm pretty sure it makes more sense to use an absolute angle to track a
lat/lon location.
---
 src/modules/vmount/output.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/modules/vmount/output.cpp b/src/modules/vmount/output.cpp
index 27b377a7ba..bd5c1b75fa 100644
--- a/src/modules/vmount/output.cpp
+++ b/src/modules/vmount/output.cpp
@@ -41,7 +41,6 @@
 #include "output.h"
 #include <errno.h>
 
-#include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/mount_orientation.h>
@@ -178,7 +177,9 @@ void OutputBase::_handle_position_update(bool force_update)
 		      _cur_control_data->type_data.lonlat.pitch_fixed_angle :
 		      _calculate_pitch(lon, lat, alt, vehicle_global_position);
 
-	float yaw = get_bearing_to_next_waypoint(vlat, vlon, lat, lon) - vehicle_local_position.heading;
+	float yaw = get_bearing_to_next_waypoint(vlat, vlon, lat, lon);
+	// We set the yaw angle in the absolute frame in this case.
+	_absolute_angle[2] = true;
 
 	// add offsets from VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET
 	pitch += _cur_control_data->type_data.lonlat.pitch_angle_offset;