From 3649def02e47eb6968daa626a8caeb592fe35fa4 Mon Sep 17 00:00:00 2001 From: Sander Smeets Date: Tue, 27 Dec 2016 11:17:41 +0100 Subject: [PATCH] Fix heading hold for ekf2 mission takeoff --- src/modules/navigator/mission.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index c3b188a920..f6c15111dd 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -560,8 +560,8 @@ Mission::set_mission_items() _mission_item.nav_cmd = NAV_CMD_TAKEOFF; _mission_item.lat = _navigator->get_global_position()->lat; _mission_item.lon = _navigator->get_global_position()->lon; - /* ignore yaw for takeoff items */ - _mission_item.yaw = NAN; + /* hold heading for takeoff items */ + _mission_item.yaw = _navigator->get_global_position()->yaw; _mission_item.altitude = takeoff_alt; _mission_item.altitude_is_relative = false; _mission_item.autocontinue = true;