From 1b52ee211a4b44c04af5091593eb84f2e8ab16db Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 9 May 2013 21:44:46 +0900
Subject: [PATCH] Copter: bug fix for RTL yaw control
Nose was only pointing home if your initial altitude was above the
RTL_ALT
---
ArduCopter/commands_logic.pde | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 9389d9b11..74c0ab88d 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -536,8 +536,8 @@ static bool verify_RTL()
// Set wp navigation target to above home
wp_nav.set_destination(Vector3f(0,0,get_RTL_alt()));
- // set yaw mode
- set_yaw_mode(YAW_HOLD);
+ // point nose towards home (maybe)
+ set_yaw_mode(get_wp_yaw_mode(true));
// advance to next rtl state
rtl_state = RTL_STATE_RETURNING_HOME;
--
GitLab