From eab913646e4765b2331322becd664db8f22e185f Mon Sep 17 00:00:00 2001
From: Tatsuya Yamaguchi <susumu-336@hotmail.co.jp>
Date: Wed, 6 Jan 2021 21:38:35 +0900
Subject: [PATCH] Copter: fix ignore pilot yaw option for guided

---
 ArduCopter/mode_guided.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index 77d3fb45fa..e487032728 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -516,7 +516,7 @@ void ModeGuided::posvel_control_run()
     // process pilot's yaw input
     float target_yaw_rate = 0;
 
-    if (!copter.failsafe.radio && ((copter.g2.auto_options & (uint32_t)Options::IgnorePilotYaw) == 0)) {
+    if (!copter.failsafe.radio && use_pilot_yaw()) {
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
         if (!is_zero(target_yaw_rate)) {