From 7db35337da39c564ca2d2074c6ac805282b84510 Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Sun, 14 Feb 2016 15:36:37 +0100 Subject: [PATCH] use control flag to decide if we enable wv or not --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 1e2f3600e4..f774cb8bb9 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1264,7 +1264,7 @@ MulticopterPositionControl::task_main() } /* weather-vane mode for vtol: disable yaw control */ - if(_mode_auto && _pos_sp_triplet.current.disable_mc_yaw_control == true) { + if(!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.disable_mc_yaw_control == true) { _att_sp.disable_mc_yaw_control = true; } else { /* reset in case of setpoint updates */