Plane: Fix VTOL yaw for STICK_MIXING 0

5 years ago · 9eaf7f5528
1 changed files with 5 additions and 1 deletions
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@ -1314,7 +1314,11 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
				@@ -1314,7 +1314,11 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
        return 0;
    }

-    if (plane.g.stick_mixing == STICK_MIXING_DISABLED) {
+    if ((plane.g.stick_mixing == STICK_MIXING_DISABLED) &&
+        (plane.control_mode == &plane.mode_qrtl ||
+         plane.control_mode == &plane.mode_guided ||
+         plane.control_mode == &plane.mode_avoidADSB ||
+         in_vtol_auto())) {
        return 0;
    }