From c2ea4e612137451e8bb38284c073efc9a9b6a2aa Mon Sep 17 00:00:00 2001
From: Baardrw <98158027+Baardrw@users.noreply.github.com>
Date: Mon, 2 Mar 2026 20:27:29 +0100
Subject: [PATCH] fix(StickYaw): Fixes potential bug if unaided yaw becomes nan
 during execution in StickYaw.cpp (#25710)

* Fixes potential bug if unaided yaw becomes nan during execution:
if unaided yaw becomes nan during execution the yaw correction would jumpt to 0 causing a large jump in yaw
the change removes this jump by holding the current yaw correction instead

* Remove Python extra paths from settings.json

Removed Python extra paths from VS Code settings.
---
 src/lib/stick_yaw/StickYaw.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/lib/stick_yaw/StickYaw.cpp b/src/lib/stick_yaw/StickYaw.cpp
index 2978d8e37b..c45cdee823 100644
--- a/src/lib/stick_yaw/StickYaw.cpp
+++ b/src/lib/stick_yaw/StickYaw.cpp
@@ -73,7 +73,8 @@ void StickYaw::generateYawSetpoint(float &yawspeed_setpoint, float &yaw_setpoint
 bool StickYaw::updateYawCorrection(const float yaw, const float unaided_yaw, const float deltatime)
 {
 	if (!PX4_ISFINITE(unaided_yaw)) {
-		_yaw_correction = 0.f;
+		// If unaided yaw is not available we leave yaw_correction_ unchanged
+		// Meaning yaw_setpoint - yaw_correction_prev + _yaw_correction = yaw_setpoint
 		return false;
 	}