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rtl resets yaw to same as when armed - unless user specifies otherwise

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Dr Gareth Owen 2013-05-29 21:22:46 +01:00 committed by Randy Mackay
parent 0460147a15
commit 79bd8b4fd0
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/commands_logic.pde
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@ -637,7 +637,11 @@ static bool verify_RTL()
rtl_loiter_start_time = millis();
// give pilot back control of yaw
set_yaw_mode(YAW_HOLD);
if(get_wp_yaw_mode(true) != YAW_HOLD) {
set_yaw_mode(YAW_RESETTOARMEDYAW); // yaw back to initial yaw on take off
} else {
set_yaw_mode(YAW_HOLD);
}
// advance to next rtl state
rtl_state = RTL_STATE_LOITERING_AT_HOME;