Crosstrack correction not working in regular waypoint navigation

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What steps will reproduce the problem?
1.  Multi-waypoint mission
2.  Log NTUN and GPS messages
3.

What is the expected output? What do you see instead?
Drone should perform track following versus homing.  Values of nav_bearing 
should differ from target_bearing when drone is not directly on the track line.

Instead nav_bearing and target_bearing are always identical.

It does not appear that update_crosstrack() is being called during normal 
waypoint navigation.

What version of the product are you using? On what operating system?
beta 1.0

Please provide any additional information below.

Original issue reported on code.google.com by dewei...@gmail.com on 15 Oct 2010 at 7:59

[GoogleCodeExporter]

Fixed in R1266, but may be a problematic implementation.  I will move the call 
to update_crosstrack into verify_must()

Original comment by dewei...@gmail.com on 17 Oct 2010 at 2:47

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[GoogleCodeExporter]

Please verify R1288 (beta branch)

Original comment by dewei...@gmail.com on 20 Oct 2010 at 3:21

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Original comment by dewei...@gmail.com on 25 Oct 2010 at 5:45

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Verified change

Original comment by dewei...@gmail.com on 30 Oct 2010 at 5:51

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