From ff43c1ab6a9b52279821e9f78091ff55ae3a9790 Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Thu, 11 Feb 2016 14:13:18 +0100 Subject: [PATCH] disable yaw on takeoff wp before heading update --- src/modules/navigator/mission.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 44142120ea..d77c3be5cf 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -443,6 +443,8 @@ Mission::set_mission_items() if (_work_item_type == WORK_ITEM_TYPE_TAKEOFF) { new_work_item_type = WORK_ITEM_TYPE_DEFAULT; _mission_item.nav_cmd = NAV_CMD_WAYPOINT; + /* ignore yaw here, otherwise it might yaw before heading_sp_update takes over */ + _mission_item.yaw = NAN; } /* move to landing waypoint before descent if necessary */