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ArduCopter: set AUTO_YAW_HOLD when user control yaw during nogps land

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Pierre Kancir 2018-06-01 12:14:58 +02:00 committed by Randy Mackay
parent 99e04e5861
commit c55d19b287
1 changed files with 3 additions and 0 deletions
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3
ArduCopter/mode_land.cpp
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@ -105,6 +105,9 @@ void Copter::ModeLand::nogps_run()
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) {
auto_yaw.set_mode(AUTO_YAW_HOLD);
}
}
// if not auto armed or landed or motor interlock not enabled set throttle to zero and exit immediately