From d786fd4a1ba295434d0f439c91e78f5bce9bd770 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Wed, 12 Aug 2015 16:12:56 +0200 Subject: [PATCH] mc pos reset yaw when vtol transitions --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 5 +++++ 1 file changed, 5 insertions(+) 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 0b18c9785d..213af56c25 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -993,6 +993,11 @@ MulticopterPositionControl::task_main() reset_yaw_sp = true; } + // XXX Temporary: for vtol use we need to reset the yaw setpoint when we are doing a transition + if (_vehicle_status.in_transition_mode) { + reset_yaw_sp = true; + } + //Update previous arming state was_armed = _control_mode.flag_armed;