Copter: fix MAV_CMD_CONDITION_YAW with relative angle when WP_YAW_BEH…

…AVIOR = 0
rmackay9 · Jun 18, 2024 · 3b24530 · 3b24530
1 parent a322ba4
commit 3b24530
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/ArduCopter/autoyaw.cpp b/ArduCopter/autoyaw.cpp
@@ -111,6 +111,9 @@ void Mode::AutoYaw::set_fixed_yaw(float angle_deg, float turn_rate_ds, int8_t di
 
     // calculate final angle as relative to vehicle heading or absolute
     if (relative_angle) {
+        if (_mode == Mode::HOLD) {
+            _yaw_angle_cd = copter.ahrs.yaw_sensor;
+        }
         _fixed_yaw_offset_cd = angle_deg * 100.0 * (direction >= 0 ? 1.0 : -1.0);
     } else {
         // absolute angle