diydrones/ardupilot — pull request #294 by drgowen (2013-05-20 19:41:28+00:00)
Title: CH7 Option: Reset Yaw to what it was on take-off

Implemented as AUX option (12).

Quad will yaw to takeoff yaw, and hold the yaw until either the pilot disables AUX or changes the flight mode. This way, no interference with auto modes.