Constantin Leue
afc380cabc
iNAV freezes activeWaypointIndex at whatever mission waypoint was active when RTH engaged instead of updating it to reflect the new target - navigation.c derives NAV_Status.activeWpIndex unconditionally from posControl.activeWaypointIndex, and none of the RTH state-entry handlers touch that field. Drawing the guidance line to that stale index would point at a waypoint the aircraft may have already passed. Extracted the target selection into computeRubberBandTarget() (mission stats.dart) so the RTH special-case and the abort-back-to-waypoint-mode fallback are unit-tested rather than only living inline in the widget build method - since it re-evaluates navMode on every frame, aborting RTH switches the line back to the mission waypoint with no extra transition logic needed.
inav
@ b8de3f78f9