From 9e8d11e9e2a0b7fb394ad75fcd85d911c0905375 Mon Sep 17 00:00:00 2001
From: MrScothh <167884257+MrScothh@users.noreply.github.com>
Date: Fri, 9 Oct 2026 10:28:45 +0200
Subject: [PATCH] navigation: fixed-wing autoland no longer skips the base leg

setLandWaypoint() left posControl.wpDistance at the distance where the
previous approach waypoint was declared reached, near zero. The FLY_BY
corner cut in the position controller reads it before isWaypointReached()
refreshes it, so it could judge the new waypoint already reached: the final
approach then began at the turn point, to the side of the runway.
---
 src/main/navigation/navigation.c | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 65fc16afd50..fc7c5e14517 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -7217,6 +7217,8 @@ static void setLandWaypoint(const fpVector3_t *pos, const fpVector3_t *nextWpPos
     }
 
     posControl.wpInitialDistance = calculateDistanceToDestination(&posControl.activeWaypoint.pos);
+    // Read by the FLY_BY corner cut before isWaypointReached() refreshes it: the old value skips this WP
+    posControl.wpDistance = posControl.wpInitialDistance;
     posControl.wpInitialAltitude = posControl.actualState.abs.pos.z;
     posControl.wpAltitudeReached = false;
     posControl.wpAltitudeEnforceActive = false;