From 79e7059eaf42037cdfa495cdb25ce9914e7af9dc Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 10 Jan 2016 23:30:16 +0100 Subject: [PATCH] Fix yaw when in manual mode during arming --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index bfc368367b..71db251293 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1760,7 +1760,8 @@ MulticopterPositionControl::task_main() } /* do not move yaw while sitting on the ground */ - else if (!_vehicle_status.condition_landed) { + else if (!_vehicle_status.condition_landed && + !(!_control_mode.flag_control_altitude_enabled && _manual.z < 0.05f)) { const float yaw_offset_max = _params.man_yaw_max / _params.mc_att_yaw_p; _att_sp.yaw_sp_move_rate = _manual.r * _params.man_yaw_max;