Orientation during IR-Lock landing

ArduCopter Copter 3.6
1

Hi!

Is there any possibility to automatically revert the yaw orientation to the takeoff orientation during land, independently from WP_YAW_BEHAVIOR?

The background is, I would like to have my copter landing in the original takeoff orientation using IR-LOCK precision landing. When I set WP_YAW_BEHAVIOR=0, the copter does not change its yaw orientation any longer during landing.

Thanks,
Stefan

2

Yes it is possible. You can store the yaw after or during takeoff. and later on, using dronekit, before landing restore it.

3

That sounds quite complicated :slight_smile:

With WP_YAW_BEHAVIOR=1 the copter rotates during land and yaw is at the takeoff origin. After land it has the orientation on the ground it had at takeoff.
When I change WP_YAW_BEHAVIOR=0, the copter lands with the yaw as it is in that moment. So the orientation differs from takeoff.

Is this correct, or am i doing something wrong?

Maybe i need something like the opposite of WP_YAW_BEHAVIOR=2, „Dont face next waypoint except RTL“ …