From 081da8bb7f37c0a6a7323d85e19c0fd5b4283eeb Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 24 Jan 2016 16:34:36 +0100 Subject: [PATCH] Navigator: Force yaw pointing towards waypoint for all cases --- src/modules/navigator/mission.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 495c17c093..cda6aaeef3 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -194,9 +194,10 @@ Mission::on_active() } /* see if we need to update the current yaw heading */ - if (_param_yawmode.get() != MISSION_YAWMODE_NONE + if ((_param_yawmode.get() != MISSION_YAWMODE_NONE && _param_yawmode.get() < MISSION_YAWMODE_MAX - && _mission_type != MISSION_TYPE_NONE) { + && _mission_type != MISSION_TYPE_NONE) + || _navigator->get_vstatus()->is_vtol) { heading_sp_update(); } @@ -566,7 +567,8 @@ Mission::heading_sp_update() } /* always keep the front of the rotary wing pointing to the next waypoint */ - if (_param_yawmode.get() == MISSION_YAWMODE_FRONT_TO_WAYPOINT) { + if (_param_yawmode.get() == MISSION_YAWMODE_FRONT_TO_WAYPOINT + || _navigator->get_vstatus()->is_vtol) { _mission_item.yaw = get_bearing_to_next_waypoint( point_from_latlon[0], point_from_latlon[1],