Some time its YAWING to detect the ARUCO while landing in Vision based precision landing

ArduCopter Copter 4.1
1

Hi everyone,

Currently working on vision based precesion landing.
Some times its YAWING while landing, beacuse of that landing direction is changing. For me, it should land on the same direction of Take off direction.

To avoid that issue planning to use WP_YAW_BEHAVIOR ( enabled 3 ) option in the code also. So that, before landing 1 meter it will rotate and land on same direction. What shoul I need to write in the code so that it will land on same direction?

Example: If my drone nose is pointing to NORTH direction the landing also should happend in the same direction.

Kindly help me to solve this issues.

Thanks.