Copter: auto yaw fix issues after testing

ArduCopter/mode_auto.cpp

@@ -561,7 +561,10 @@ void ModeAuto::payload_place_start()
 // returns true if pilot's yaw input should be used to adjust vehicle's heading
 bool ModeAuto::use_pilot_yaw(void) const
 {
-    return (copter.g2.auto_options.get() & uint32_t(Options::IgnorePilotYaw)) == 0;
+    const bool allow_yaw_option = (copter.g2.auto_options.get() & uint32_t(Options::IgnorePilotYaw)) == 0;
+    const bool rtl_allow_yaw = (_mode == SubMode::RTL) && copter.mode_rtl.use_pilot_yaw();
+    const bool landing = _mode == SubMode::LAND;
+    return allow_yaw_option || rtl_allow_yaw || landing;
 }
 
 bool ModeAuto::set_speed_xy(float speed_xy_cms)

ArduCopter/mode_circle.cpp

@@ -20,6 +20,9 @@ bool ModeCircle::init(bool ignore_checks)
     // initialise circle controller including setting the circle center based on vehicle speed
     copter.circle_nav->init();
 
+    // set auto yaw circle mode
+    auto_yaw.set_mode(AutoYaw::Mode::CIRCLE);
+
     return true;
 }
 

ArduCopter/mode_guided.cpp

@@ -834,7 +834,7 @@ void ModeGuided::pause_control_run()
     pos_control->update_z_controller();
 
     // call attitude controller
-    attitude_control->input_thrust_vector_heading(pos_control->get_thrust_vector(), auto_yaw.get_heading());
+    attitude_control->input_thrust_vector_rate_heading(pos_control->get_thrust_vector(), 0.0);
 }
 
 // posvelaccel_control_run - runs the guided position, velocity and acceleration controller

ArduCopter/mode_rtl.cpp

@@ -546,7 +546,10 @@ int32_t ModeRTL::wp_bearing() const
 // returns true if pilot's yaw input should be used to adjust vehicle's heading
 bool ModeRTL::use_pilot_yaw(void) const
 {
-    return (copter.g2.rtl_options.get() & uint32_t(Options::IgnorePilotYaw)) == 0;
+    const bool allow_yaw_option = (copter.g2.rtl_options.get() & uint32_t(Options::IgnorePilotYaw)) == 0;
+    const bool land_repositioning = g.land_repositioning && (_state == SubMode::FINAL_DESCENT);
+    const bool final_landing = _state == SubMode::LAND;
+    return allow_yaw_option || land_repositioning || final_landing;
 }
 
 #endif

ArduCopter/mode_smart_rtl.cpp

@@ -194,7 +194,9 @@ int32_t ModeSmartRTL::wp_bearing() const
 
 bool ModeSmartRTL::use_pilot_yaw() const
 {
-    return g2.smart_rtl.use_pilot_yaw();
+    const bool land_repositioning = g.land_repositioning && (smart_rtl_state == SubMode::DESCEND);
+    const bool final_landing = smart_rtl_state == SubMode::LAND;
+    return g2.smart_rtl.use_pilot_yaw() || land_repositioning || final_landing;
 }
 
 #endif