From 6c75a03230f136d4af08f577c681db9c1ffde315 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Mon, 1 Aug 2011 22:00:26 +0000
Subject: [PATCH] 2.0.39 Made the Yaw on RTL always on for Helis

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2999 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/ArduCopterMega.pde | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/ArduCopterMega/ArduCopterMega.pde b/ArduCopterMega/ArduCopterMega.pde
index 1c9c28e469..b067678596 100644
--- a/ArduCopterMega/ArduCopterMega.pde
+++ b/ArduCopterMega/ArduCopterMega.pde
@@ -280,9 +280,11 @@ static int 		motor_out[8];
 
 // Heli
 // ----
+#if FRAME_CONFIG ==	HELI_FRAME
 static float heli_rollFactor[3], heli_pitchFactor[3];  // only required for 3 swashplate servos
 static int heli_servo_min[3], heli_servo_max[3];       // same here.  for yaw servo we use heli_servo4_min/max parameter directly
 static int heli_servo_out[4];
+#endif
 
 // Failsafe
 // --------
@@ -1321,16 +1323,20 @@ static void update_navigation()
 			break;
 
 		case GUIDED:
+		case RTL:
 			if(wp_distance > 20){
 				// calculates desired Yaw
+				// XXX this is an experiment
+				#if FRAME_CONFIG ==	HELI_FRAME
 				update_nav_yaw();
+				#endif
 
 			}else{
 				// Don't Yaw anymore
 				// hack to elmininate crosstrack effect
 				crosstrack_bearing 	= target_bearing;
 			}
-		case RTL:
+
 			// are we Traversing or Loitering?
 			wp_control = (wp_distance < 4 ) ? LOITER_MODE : WP_MODE;