From 599421b98d1c5a9ae157220d5ad046eb28c1006f Mon Sep 17 00:00:00 2001
From: DonLakeFlyer <don@thegagnes.com>
Date: Sat, 4 Mar 2017 17:13:16 -0800
Subject: [PATCH] Fix incorrect loiter point rotate on landing heading fact
 change

---
 src/MissionManager/FixedWingLandingComplexItem.cc | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/MissionManager/FixedWingLandingComplexItem.cc b/src/MissionManager/FixedWingLandingComplexItem.cc
index ffccbcf03..0ef549d8a 100644
--- a/src/MissionManager/FixedWingLandingComplexItem.cc
+++ b/src/MissionManager/FixedWingLandingComplexItem.cc
@@ -227,10 +227,15 @@ void FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts(void)
 
         convertGeoToNed(_landingCoordinate, tangentOrigin, &north, &east, &down);
 
+        // Heading is from loiter to land, so we need to rotate angle 180 degrees and go the opposite direction
+        double heading = _landingHeadingFact.rawValue().toDouble();
+        heading += 180.0;
+        heading *= -1.0;
+
         QPointF originPoint(east, north);
         north += _loiterToLandDistanceFact.rawValue().toDouble();
         QPointF loiterPoint(east, north);
-        QPointF rotatedLoiterPoint = _rotatePoint(loiterPoint, originPoint, _landingHeadingFact.rawValue().toDouble());
+        QPointF rotatedLoiterPoint = _rotatePoint(loiterPoint, originPoint, heading);
 
         convertNedToGeo(rotatedLoiterPoint.y(), rotatedLoiterPoint.x(), down, tangentOrigin, &_loiterCoordinate);
 
-- 
2.22.0