From a9511478f23f497ea2bac66ff3c4a1d56ca66d82 Mon Sep 17 00:00:00 2001 From: sander Date: Sat, 26 Mar 2016 19:02:31 +0100 Subject: [PATCH] Don't allow yaw updates during transition --- src/modules/navigator/mission.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index d8fd9aaa6f..d4a408135f 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -770,6 +770,8 @@ Mission::heading_sp_update() { /* we don't want to be yawing during takeoff, landing or aligning for a transition */ if (_mission_item.nav_cmd == NAV_CMD_TAKEOFF + || _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF + || _mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION || _mission_item.nav_cmd == NAV_CMD_LAND || _mission_item.nav_cmd == NAV_CMD_VTOL_LAND || _work_item_type == WORK_ITEM_TYPE_ALIGN) {