From ed83edc2a60906fe94105cae2c6ce3c9914e5623 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sun, 5 Sep 2021 12:39:03 +0100
Subject: [PATCH] Copter: add SIMPLE_HEADING_RESET RCx_OPTION

---
 ArduCopter/RC_Channel.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp
index b525bcc185..a44f732976 100644
--- a/ArduCopter/RC_Channel.cpp
+++ b/ArduCopter/RC_Channel.cpp
@@ -90,6 +90,7 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const AuxS
     case AUX_FUNC::ACRO:
     case AUX_FUNC::AUTO_RTL:
     case AUX_FUNC::TURTLE:
+    case AUX_FUNC::SIMPLE_HEADING_RESET:
         break;
     case AUX_FUNC::ACRO_TRAINER:
     case AUX_FUNC::ATTCON_ACCEL_LIM:
@@ -575,6 +576,13 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
 #endif
             break;
 
+        case AUX_FUNC::SIMPLE_HEADING_RESET:
+            if (ch_flag == AuxSwitchPos::HIGH) {
+                copter.init_simple_bearing();
+                gcs().send_text(MAV_SEVERITY_INFO, "Simple heading reset");
+            }
+            break;
+
     default:
         return RC_Channel::do_aux_function(ch_option, ch_flag);
     }