From 9eaf7f552820e5bcd653605f6c670cf960bac1e9 Mon Sep 17 00:00:00 2001 From: Michael du Breuil Date: Thu, 7 May 2020 12:43:43 -0700 Subject: [PATCH] Plane: Fix VTOL yaw for STICK_MIXING 0 --- ArduPlane/quadplane.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index f6faed8ef3..189fa36a58 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -1314,7 +1314,11 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const return 0; } - if (plane.g.stick_mixing == STICK_MIXING_DISABLED) { + if ((plane.g.stick_mixing == STICK_MIXING_DISABLED) && + (plane.control_mode == &plane.mode_qrtl || + plane.control_mode == &plane.mode_guided || + plane.control_mode == &plane.mode_avoidADSB || + in_vtol_auto())) { return 0; }