How to set landing orientation (yaw) after mission completion?

PX4 Autopilot
1

Hi everyone,

After completing a mission, I want the drone to land facing a specific direction.
I tried setting the yaw option for the LAND waypoint while creating the mission, but the vehicle always lands in the direction of the last waypoint instead.

Is there a parameter or setting I need to enable to make the yaw command effective during landing?
Or does PX4 ignore yaw settings for the final LAND command by default?

Any help or clarification would be appreciated!

2

Sounds like it’s using MPC_YAW_MODE instead of using the mission item yaw. Can you try to fix this, verify in SITL, and submit a PR? If not at least open an issue on github so we can track it.