From c091c8e0e6fdb374cf8bf7dfaeb5716c68cbcbc6 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Wed, 1 Aug 2012 12:15:02 +0900
Subject: [PATCH] ArduCopter: bug fix to reset yaw target when zero and when in
 stabilize or acro mode.

---
 ArduCopter/ArduCopter.pde | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index f763da808f..3fde6df418 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1591,7 +1591,7 @@ void update_yaw_mode(void)
 			}else{
 				// reset target yaw to current yaw if the motors are disarmed or throttle is zero
 				// Note: we do not want to reset yaw if failsafe has been triggered even though throttle maybe zero (in fact, normally throttle is zero in failsafe)
-				if(motors.armed() == false || (g.rc_3.control_in == 0 && !failsafe) )
+				if(motors.armed() == false || ((g.rc_3.control_in == 0) && (control_mode <= ACRO) && !failsafe))
 					nav_yaw = ahrs.yaw_sensor;
 
 				g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);