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Copter: Set correct yaw for circle in Mode Auto

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Rishabh 2020-04-09 16:11:06 +05:30 committed by Randy Mackay
parent 9750f99b91
commit 23900e5194
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/mode_auto.cpp
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@ -320,6 +320,10 @@ void ModeAuto::circle_start()
// initialise circle controller // initialise circle controller
copter.circle_nav->init(copter.circle_nav->get_center()); copter.circle_nav->init(copter.circle_nav->get_center());
if (auto_yaw.mode() != AUTO_YAW_ROI) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
} }
// auto_spline_start - initialises waypoint controller to implement flying to a particular destination using the spline controller // auto_spline_start - initialises waypoint controller to implement flying to a particular destination using the spline controller