From 09cad7c59d25e555652ec1eee7d47c9961ba4971 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 27 Jan 2018 12:45:46 +0900
Subject: [PATCH] Plane: quadplane integrates attitude control
 inertial_frame_reset

---
 ArduPlane/quadplane.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 179d733697..95b5deedbd 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -764,7 +764,7 @@ void QuadPlane::check_yaw_reset(void)
     float yaw_angle_change_rad = 0.0f;
     uint32_t new_ekfYawReset_ms = ahrs.getLastYawResetAngle(yaw_angle_change_rad);
     if (new_ekfYawReset_ms != ekfYawReset_ms) {
-        attitude_control->shift_ef_yaw_target(degrees(yaw_angle_change_rad) * 100);
+        attitude_control->inertial_frame_reset();
         ekfYawReset_ms = new_ekfYawReset_ms;
         gcs().send_text(MAV_SEVERITY_INFO, "EKF yaw reset %.2f", (double)degrees(yaw_angle_change_rad));
     }