mavlink: fix yawing to North for LOITER_TIME (#10828)

* mavlink: yaw should wrap at 2 pi, not pi
* mavlink: use newer rad/deg conversion

src/modules/mavlink/mavlink_mission.cpp

@@ -53,7 +53,7 @@
 #include <uORB/topics/mission.h>
 #include <uORB/topics/mission_result.h>
 
-using matrix::wrap_pi;
+using matrix::wrap_2pi;
 
 dm_item_t MavlinkMissionManager::_dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0;
 bool MavlinkMissionManager::_dataman_init = false;
@@ -1321,13 +1321,13 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 			mission_item->nav_cmd = NAV_CMD_WAYPOINT;
 			mission_item->time_inside = mavlink_mission_item->param1;
 			mission_item->acceptance_radius = mavlink_mission_item->param2;
-			mission_item->yaw = wrap_pi(math::radians(mavlink_mission_item->param4));
+			mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
 			break;
 
 		case MAV_CMD_NAV_LOITER_UNLIM:
 			mission_item->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
 			mission_item->loiter_radius = mavlink_mission_item->param3;
-			mission_item->yaw = wrap_pi(math::radians(mavlink_mission_item->param4));
+			mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
 			break;
 
 		case MAV_CMD_NAV_LOITER_TIME:
@@ -1335,19 +1335,22 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 			mission_item->time_inside = mavlink_mission_item->param1;
 			mission_item->loiter_radius = mavlink_mission_item->param3;
 			mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0);
+			// Yaw is only valid for multicopter but we set it always because
+			// it's just ignored for fixedwing.
+			mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
 			break;
 
 		case MAV_CMD_NAV_LAND:
 			mission_item->nav_cmd = NAV_CMD_LAND;
 			// TODO: abort alt param1
-			mission_item->yaw = wrap_pi(math::radians(mavlink_mission_item->param4));
+			mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
 			mission_item->land_precision = mavlink_mission_item->param2;
 			break;
 
 		case MAV_CMD_NAV_TAKEOFF:
 			mission_item->nav_cmd = NAV_CMD_TAKEOFF;
 			mission_item->pitch_min = mavlink_mission_item->param1;
-			mission_item->yaw = wrap_pi(math::radians(mavlink_mission_item->param4));
+			mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
 			break;
 
 		case MAV_CMD_NAV_LOITER_TO_ALT:
@@ -1383,7 +1386,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 		case MAV_CMD_NAV_VTOL_TAKEOFF:
 		case MAV_CMD_NAV_VTOL_LAND:
 			mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
-			mission_item->yaw = wrap_pi(math::radians(mavlink_mission_item->param4));
+			mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
 			break;
 
 		case MAV_CMD_NAV_FENCE_RETURN_POINT:
@@ -1621,7 +1624,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 
 		case MAV_CMD_NAV_VTOL_TAKEOFF:
 		case MAV_CMD_NAV_VTOL_LAND:
-			mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F;
+			mavlink_mission_item->param4 = math::degrees(mission_item->yaw);
 			break;
 
 		case MAV_CMD_NAV_FENCE_RETURN_POINT: