add yaw control for tiltrotor in TRANSITION_TIMER state

ArgenTech-Solutions · Oct 23, 2024 · 594072e · 594072e
1 parent f91861b
commit 594072e
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
@@ -1754,7 +1754,7 @@ void SLT_Transition::update()
         // control surfaces at this stage.
         // We disable this for vectored yaw tilt rotors as they do need active
         // yaw control throughout the transition
-        if (!quadplane.tiltrotor.is_vectored()) {
+        if (!quadplane.tiltrotor.is_vectored() && !quadplane.option_is_set(QuadPlane::OPTION::FORCE_TRANSITION_TILT_YAW)) {
             quadplane.attitude_control->reset_yaw_target_and_rate();
             quadplane.attitude_control->rate_bf_yaw_target(0.0);
         }