From 8158cdfcf43065af2709f8e90cc2f7ee7320fddf Mon Sep 17 00:00:00 2001
From: Roman Bapst <bapstroman@gmail.com>
Date: Mon, 17 Sep 2018 01:29:38 +0200
Subject: [PATCH] navigator: set yaw_valid flag in reposition triplet (#10294)

- yaw_valid flag was always left at false which made the position controller reject the yaw setpoint of the reposition command
---
 src/modules/navigator/navigator_main.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 190eed7239..c55dade689 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -323,9 +323,11 @@ Navigator::run()
 				// Go on and check which changes had been requested
 				if (PX4_ISFINITE(cmd.param4)) {
 					rep->current.yaw = cmd.param4;
+					rep->current.yaw_valid = true;
 
 				} else {
 					rep->current.yaw = NAN;
+					rep->current.yaw_valid = false;
 				}
 
 				if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {