terrain_nav: remove waypoint at loiter exit

- Extra waypoint on loiter radius results in a full turn as heading is not achieved.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

Author: srmainwaring

MAVProxy/modules/mavproxy_terrainnav/terrainnav.py

@@ -58,7 +58,7 @@ def default_settings():
                 MPSetting(
                     "wp_generator",
                     str,
-                    "SimpleWaypoints",
+                    "UseLoiterToAlt",
                     choice=["SimpleWaypoints", "UseLoiterToAlt"],
                 ),
                 MPSetting("wp_spacing", float, 60.0),
@@ -1132,30 +1132,30 @@ def _wp_gen_use_loiter_to_alt(self):
                     )
                     mission_items.append(mission_item)
                     wp_num += 1
-
-            # mission item MAV_CMD_NAV_WAYPOINT (16)
-            p1 = 0.0  # hold
-            p2 = 0.0  # accept radius
-            p3 = 0.0  # pass_radius # pass radius - not working?
-            p4 = 0.0  # end_yaw_deg # yaw at waypoint - not working?
-            mission_item = mavutil.mavlink.MAVLink_mission_item_message(
-                target_system=sys_id,
-                target_component=cmp_id,
-                seq=wp_num,
-                frame=mavutil.mavlink.MAV_FRAME_GLOBAL,
-                command=mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
-                current=0,
-                autocontinue=1,
-                param1=p1,
-                param2=p2,
-                param3=p3,
-                param4=p4,
-                x=end_lat,
-                y=end_lon,
-                z=end_alt,
-            )
-            mission_items.append(mission_item)
-            wp_num += 1
+            else:
+                # mission item MAV_CMD_NAV_WAYPOINT (16)
+                p1 = 0.0  # hold
+                p2 = 0.0  # accept radius
+                p3 = 0.0  # pass_radius # pass radius - not working?
+                p4 = 0.0  # end_yaw_deg # yaw at waypoint - not working?
+                mission_item = mavutil.mavlink.MAVLink_mission_item_message(
+                    target_system=sys_id,
+                    target_component=cmp_id,
+                    seq=wp_num,
+                    frame=mavutil.mavlink.MAV_FRAME_GLOBAL,
+                    command=mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
+                    current=0,
+                    autocontinue=1,
+                    param1=p1,
+                    param2=p2,
+                    param3=p3,
+                    param4=p4,
+                    x=end_lat,
+                    y=end_lon,
+                    z=end_alt,
+                )
+                mission_items.append(mission_item)
+                wp_num += 1
 
         if add_goal_loiter:
             mission_item = self._wp_gen_goal_loiter(wp_num)