From 7714f203f961c6f1962647d040e5ed493800f922 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@jasonshort.local>
Date: Tue, 8 Nov 2011 23:42:41 -0800
Subject: [PATCH] Added Mav_CMD_Yaw parsing

---
 ArduCopter/GCS_Mavlink.pde | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index afdd6f5309..3dffeb2194 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1232,6 +1232,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 					tell_command.p1 = packet.param1;
 					break;
 
+				case MAV_CMD_CONDITION_YAW:
+					tell_command.p1 = packet.param3;
+					tell_command.alt = packet.param1;
+					tell_command.lat = packet.param2;
+					tell_command.lng = packet.param4;
+					break;
+
 				case MAV_CMD_NAV_TAKEOFF:
 					tell_command.p1 = 0;
 					break;