From 737fe1fc7f689456722a56cbd21bbb1844771931 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 24 Jan 2016 16:30:21 +0100 Subject: [PATCH] Always perform yaw SP generation, not only in multicopter mode --- src/modules/navigator/mission.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index ff76b5620d..495c17c093 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -193,9 +193,8 @@ Mission::on_active() } } - /* see if we need to update the current yaw heading for rotary wing types */ - if (_navigator->get_vstatus()->is_rotary_wing - && _param_yawmode.get() != MISSION_YAWMODE_NONE + /* see if we need to update the current yaw heading */ + if (_param_yawmode.get() != MISSION_YAWMODE_NONE && _param_yawmode.get() < MISSION_YAWMODE_MAX && _mission_type != MISSION_TYPE_NONE) { heading_sp_update();