From 9cf63a5407a608b0213449e8c40c394695100d25 Mon Sep 17 00:00:00 2001
From: Clyde McQueen <clyde@mcqueen.net>
Date: Sat, 14 Sep 2024 20:14:44 -0700
Subject: [PATCH] Sub: fully init yaw control on guided submode start

---
 ArduSub/mode_guided.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ArduSub/mode_guided.cpp b/ArduSub/mode_guided.cpp
index ff1bb07df5..6002a2c94f 100644
--- a/ArduSub/mode_guided.cpp
+++ b/ArduSub/mode_guided.cpp
@@ -93,6 +93,7 @@ void ModeGuided::guided_pos_control_start()
     sub.wp_nav.set_wp_destination(stopping_point, false);
 
     // initialise yaw
+    sub.yaw_rate_only = false;
     set_auto_yaw_mode(get_default_auto_yaw_mode(false));
 }
 
@@ -111,6 +112,7 @@ void ModeGuided::guided_vel_control_start()
     position_control->init_xy_controller();
 
     // pilot always controls yaw
+    sub.yaw_rate_only = false;
     set_auto_yaw_mode(AUTO_YAW_HOLD);
 }
 
@@ -129,6 +131,7 @@ void ModeGuided::guided_posvel_control_start()
     position_control->init_xy_controller();
 
     // pilot always controls yaw
+    sub.yaw_rate_only = false;
     set_auto_yaw_mode(AUTO_YAW_HOLD);
 }
 
@@ -153,6 +156,7 @@ void ModeGuided::guided_angle_control_start()
     guided_angle_state.climb_rate_cms = 0.0f;
 
     // pilot always controls yaw
+    sub.yaw_rate_only = false;
     set_auto_yaw_mode(AUTO_YAW_HOLD);
 }