Copter automatically turns north when switching to GUIDED_NOGPS

[ShevaDavid]

Bug report

Issue details
This issue follows up the discussion with Leonard
https://discuss.ardupilot.org/t/set-attitude-target-with-guided-no-gps-lack-of-documentation/111845/24
When I switch to GUIDED_NOGPS, the copter automatically turns north, because this is how attitude quaternion is initialized (1, 0, 0, 0) in angle_control_start method. So I just replaced it with zero quaternion (0, 0, 0, 0) and now there is no automatic north rotaion.

Version
4.5

Platform
[ ] Copter

[rmackay9]

Hi, thanks for the report. I've added this to the Copter-4.5 issues list although I guess the issue also exists in 4.4. Txs again

[lthall]

PR #26407

[lthall]

This has now been fixed.