From d7e05b603735a694895ffc22fb65941e5fd4bc42 Mon Sep 17 00:00:00 2001
From: chobits tai <chobits@itri.org.tw>
Date: Mon, 17 Jun 2024 09:30:41 +0800
Subject: [PATCH] Copter: fix MAV_CMD_CONDITION_YAW with relative angle when
 WP_YAW_BEHAVIOR = 0

---
 ArduCopter/autoyaw.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ArduCopter/autoyaw.cpp b/ArduCopter/autoyaw.cpp
index 749a830f4d..287cb8e4f9 100644
--- a/ArduCopter/autoyaw.cpp
+++ b/ArduCopter/autoyaw.cpp
@@ -110,6 +110,9 @@ void Mode::AutoYaw::set_fixed_yaw(float angle_deg, float turn_rate_ds, int8_t di
 
     // calculate final angle as relative to vehicle heading or absolute
     if (relative_angle) {
+        if (_mode == Mode::HOLD) {
+            _yaw_angle_cd = copter.ahrs.yaw_sensor;
+        }
         _fixed_yaw_offset_cd = angle_deg * 100.0 * (direction >= 0 ? 1.0 : -1.0);
     } else {
         // absolute angle