Hello!

I'm trying to activate follow yaw mode using Serial API, my approach is this :
- I set yaw and pitch to 0 using CONTROL_MODE_ANGLE
cmd_sbgc.mode = SBGC_CONTROL_MODE_ANGLE;
cmd_sbgc.anglePITCH = SBGC_DEGREE_TO_ANGLE(0);
cmd_sbgc.angleYAW = SBGC_DEGREE_TO_ANGLE(0);
SBGC_cmd_control_send(cmd_sbgc, sbgc_parser);

- Set parameters to function SBGC_cmd_set_adj_vars_send
SBGC_cmd_set_adj_vars_var_t ajd_vars[] = {
{ADJ_VAR_FOLLOW_SPEED_YAW, 255},
{ADJ_VAR_FOLLOW_LPF_YAW, 10},
{ADJ_VAR_FOLLOW_EXPO_RATE, 60},
{ADJ_VAR_FOLLOW_DEADBAND, 5},
{ADJ_VAR_RC_FOLLOW_YAW, 1}
};
SBGC_cmd_set_adj_vars_send(ajd_vars, 5, sbgc_parser);

- Let the pitch free to move, using joystick
cmd_sbgc.mode = SBGC_CONTROL_MODE_RC;
cmd_sbgc.anglePITCH = anglePITCH;
SBGC_cmd_control_send(cmd_sbgc, sbgc_parser);

With this code, the yaw is blocked and the pitch too.
I've read in previous discussions that CMD_SET_VARS and CMD_CONTROL are concurrent and it's better to use MODE_RC however I don't seem to get any results…
My questions :
- Am I setting the right parameters to activate follow yaw ?
- How can I use MODE_RC ?

Thank you !