Plane: added weathervaning to landing reposition

9 years ago · d8b0d17fe4
1 changed files with 1 additions and 1 deletions
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@ -1139,7 +1139,7 @@ void QuadPlane::control_auto(const Location &loc)
				@@ -1139,7 +1139,7 @@ void QuadPlane::control_auto(const Location &loc)
        // call attitude controller
        attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_smooth(plane.nav_roll_cd,
                                                                             plane.nav_pitch_cd,
-                                                                             desired_auto_yaw_rate_cds(),
+                                                                             desired_auto_yaw_rate_cds() + get_weathervane_yaw_rate_cds(),
                                                                             smoothing_gain);
        if (plane.auto_state.wp_proportion >= 1 ||
            plane.auto_state.wp_distance < 5) {