use and reset the new yaw control method

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -964,6 +964,8 @@ FixedwingAttitudeControl::task_main()
 				if (_att_sp.fw_control_yaw == true) {
 					// this method controls heading directly with rudder. Used for auto takeoff on runway
 					_yaw_ctrl.set_coordinated_method(ECL_YawController::COORD_METHOD_HEADING);
+				} else {
+					_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
 				}
 
 				/* Run attitude controllers */

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -1424,7 +1424,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 					// for takeoff we want heading control with rudder, roll and pitch stabilization to zero
 					// throttle should be ramped up to max
 					_att_sp.roll_body = 0.0f;
-					//_att_sp.fw_control_yaw = true;		// tell attitude controller he should control yaw directly
+					_att_sp.fw_control_yaw = true;		// tell attitude controller he should control yaw directly
 
 					if (_parameters.runway_takeoff_heading == 0) {
 						// fix heading in the direction the airframe points