From 27812ad7ac845175abc22ef34b8fef95b5d59dd7 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Mon, 23 Jul 2018 15:30:54 +0200
Subject: [PATCH] mc_pos_control_params: add MPC_YAW_MODE for heading during
 auto

---
 .../mc_pos_control/mc_pos_control_params.c        | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 6ceedceedc..085cf88440 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -657,3 +657,18 @@ PARAM_DEFINE_FLOAT(MPC_IDLE_TKO, 0.0f);
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_INT32(MPC_OBS_AVOID, 0);
+
+/**
+ * Yaw mode.
+ *
+ * Specifies the heading in Auto.
+ *
+ * @min 0
+ * @max 3
+ * @value 0 set by waypoint
+ * @value 1 towards waypoint
+ * @value 2 towards home
+ * @value 3 away from home
+ * @group Mission
+ */
+PARAM_DEFINE_INT32(MPC_YAW_MODE, 1);