From 64f027bf42147c5f43a94fc7f1d2f9bedc0abedf Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Wed, 1 Aug 2012 12:15:02 +0900
Subject: [PATCH] ArduCopter: bug fix to reset yaw target when zero and when in
stabilize or acro mode.
---
ArduCopter/ArduCopter.pde | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index f763da808..3fde6df41 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1591,7 +1591,7 @@ void update_yaw_mode(void)
}else{
// reset target yaw to current yaw if the motors are disarmed or throttle is zero
// Note: we do not want to reset yaw if failsafe has been triggered even though throttle maybe zero (in fact, normally throttle is zero in failsafe)
- if(motors.armed() == false || (g.rc_3.control_in == 0 && !failsafe) )
+ if(motors.armed() == false || ((g.rc_3.control_in == 0) && (control_mode <= ACRO) && !failsafe))
nav_yaw = ahrs.yaw_sensor;
g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
--
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