use control flag to decide if we enable wv or not

9 years ago · 7db35337da
1 changed files with 1 additions and 1 deletions
--- 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()
				@@ -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 */