绕圈航线机头方向

ArduCopter/UserCode.cpp

@@ -51,7 +51,6 @@ void Copter::userhook_SuperSlowLoop()
 {
     // put your 1Hz code here
     zr_SuperSlowLoop();
-
 }
 #endif
 

ArduCopter/autoyaw.cpp

@@ -8,7 +8,7 @@ float Mode::AutoYaw::roi_yaw()
     roi_yaw_counter++;
     if (roi_yaw_counter >= 4) {
         roi_yaw_counter = 0;
-        _roi_yaw = get_bearing_cd(copter.inertial_nav.get_position(), roi);
+        _roi_yaw = get_bearing_cd(copter.inertial_nav.get_position(), roi)+27000;
     }
 
     return _roi_yaw;

ArduCopter/mode_auto.cpp

@@ -448,6 +448,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
         break;
 
     case MAV_CMD_NAV_LOITER_TURNS:              //18 Loiter N Times
+        do_roi(cmd);
         do_circle(cmd);
         break;