From f62e89638ffb7b1aee3f3ed80052c9fdf4233c7d Mon Sep 17 00:00:00 2001 From: dakejahl <37091262+dakejahl@users.noreply.github.com> Date: Tue, 21 Aug 2018 15:05:55 -0400 Subject: [PATCH] navigator: add yaw setpoint to rcloss state (#10291) This fixes the issue where the vehicle yaws in a seemingly random direction when RC is lost. --- src/modules/navigator/rcloss.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/navigator/rcloss.cpp b/src/modules/navigator/rcloss.cpp index 6d34fc7ed2..ace942919c 100644 --- a/src/modules/navigator/rcloss.cpp +++ b/src/modules/navigator/rcloss.cpp @@ -100,7 +100,7 @@ RCLoss::set_rcl_item() _mission_item.lon = _navigator->get_global_position()->lon; _mission_item.altitude = _navigator->get_global_position()->alt; _mission_item.altitude_is_relative = false; - _mission_item.yaw = NAN; + _mission_item.yaw = _navigator->get_global_position()->yaw; _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; _mission_item.acceptance_radius = _navigator->get_acceptance_radius();