Copter: guided takeoff supports autoyaw

allows both pilot controlled and externally controlled yaw control

ArduCopter/takeoff.cpp

@@ -111,6 +111,9 @@ void Mode::auto_takeoff_run()
     if (!copter.failsafe.radio && copter.flightmode->use_pilot_yaw()) {
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
+        if (!is_zero(target_yaw_rate)) {
+            auto_yaw.set_mode(AUTO_YAW_HOLD);
+        }
     }
 
     // aircraft stays in landed state until rotor speed runup has finished
@@ -153,8 +156,17 @@ void Mode::auto_takeoff_run()
     // run the vertical position controller and set output throttle
     copter.pos_control->update_z_controller();
 
-    // roll & pitch from waypoint controller, yaw rate from pilot
-    attitude_control->input_thrust_vector_rate_heading(thrustvector, target_yaw_rate);
+    // call attitude controller
+    if (auto_yaw.mode() == AUTO_YAW_HOLD) {
+        // roll & pitch from position controller, yaw rate from pilot
+        attitude_control->input_thrust_vector_rate_heading(thrustvector, target_yaw_rate);
+    } else if (auto_yaw.mode() == AUTO_YAW_RATE) {
+        // roll & pitch from position controller, yaw rate from mavlink command or mission item
+        attitude_control->input_thrust_vector_rate_heading(thrustvector, auto_yaw.rate_cds());
+    } else {
+        // roll & pitch from position controller, yaw heading from GCS or auto_heading()
+        attitude_control->input_thrust_vector_heading(thrustvector, auto_yaw.yaw(), auto_yaw.rate_cds());
+    }
 }
 
 void Mode::auto_takeoff_set_start_alt(void)