From 742e9f7b1588cf834ca1d05cb268a2da75713d7d Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@px4.io>
Date: Mon, 30 Apr 2018 11:58:47 +0200
Subject: [PATCH] FlightTaskManualStabilzied: check for absolute yaw

---
 src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
index d3c3983364..3b73976747 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
@@ -75,7 +75,7 @@ void FlightTaskManualStabilized::_updateHeadingSetpoints()
 	/* Yaw-lock depends on stick input. If not locked,
 	 * yaw_sp is set to NAN.
 	 * TODO: add yawspeed to get threshold.*/
-	if (_yawspeed_setpoint > FLT_EPSILON) {
+	if (fabsf(_yawspeed_setpoint) > FLT_EPSILON) {
 		// no fixed heading when rotating around yaw by stick
 		_yaw_setpoint = NAN;