I’m working off of a 1.9.2 based branch and when we arm we occasionally see a big yaw correction from the aircraft while it is still sitting on the ground. I’ve seen this happen in Position Control and Manual flight modes. I’ve been trying to trace it down but its very intermittent.
Digging through old issues I found this PR related to Navigator and IDLE set points:
Would the bug corrected by the above PR manifest itself in Position and Manual modes?
Edit: The bug was not corrected…