From 607201a9b141de44936f8dc9158d725712e0e2eb Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Sun, 3 Jan 2016 20:43:42 -0800
Subject: [PATCH] Plane: zero course error for straight bungee launch

This fixes the behavior where it uses the heading when switched to AUTO instead of at launch causing a turn just after a bungee launch
---
 ArduPlane/takeoff.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp
index 87beaf6e67..4ae5fba82b 100644
--- a/ArduPlane/takeoff.cpp
+++ b/ArduPlane/takeoff.cpp
@@ -72,6 +72,7 @@ bool Plane::auto_takeoff_check(void)
         gcs_send_text_fmt(MAV_SEVERITY_INFO, "Triggered AUTO. GPS speed = %.1f", (double)gps.ground_speed());
         launchTimerStarted = false;
         last_tkoff_arm_time = 0;
+        steer_state.locked_course_err = 0; // use current heading without any error offset
         return true;
     }