From 683122b72be44aaacbc5471cf9c64f498648a16d Mon Sep 17 00:00:00 2001
From: zbr3550 <zbr3550@sina.com>
Date: Thu, 15 Oct 2020 09:13:59 +0800
Subject: [PATCH] =?UTF-8?q?=E7=BB=95=E5=9C=88=E8=88=AA=E7=BA=BF=E6=9C=BA?=
 =?UTF-8?q?=E5=A4=B4=E6=96=B9=E5=90=91?=
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---
 ArduCopter/UserCode.cpp  | 1 -
 ArduCopter/autoyaw.cpp   | 2 +-
 ArduCopter/mode_auto.cpp | 1 +
 3 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/UserCode.cpp b/ArduCopter/UserCode.cpp
index 017952cb6c..56f9a6d024 100644
--- a/ArduCopter/UserCode.cpp
+++ b/ArduCopter/UserCode.cpp
@@ -51,7 +51,6 @@ void Copter::userhook_SuperSlowLoop()
 {
     // put your 1Hz code here
     zr_SuperSlowLoop();
-
 }
 #endif
 
diff --git a/ArduCopter/autoyaw.cpp b/ArduCopter/autoyaw.cpp
index 2c0a527b82..a2deff62e1 100644
--- a/ArduCopter/autoyaw.cpp
+++ b/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;
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index f344962bdd..a763c740c2 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/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;