anchor.diff:           YawRateCom    = SIGN( p%YawManRat, p%NacYawF - OtherState%NacYawI )             ! Modify the sign of p%YawManRat based on the direction of the yaw maneuever
            YawPosCom     = OtherState%NacYawI + YawRateCom*( t - p%TYawManS )
   
  -      ENDIF   
  -      
  +      ENDIF
  +
  +   ELSE
  +   
  +      !...................................................................
  +      ! Calculate standard yaw position and rate commands:
  +      !...................................................................
  +
  +      YawPosComInt = OtherState%YawPosComInt    ! get state value.  We don't update the state here.
  +      CALL CalculateStandardYaw(t, u, p, m, YawPosCom, YawRateCom, YawPosComInt, ErrStat, ErrMsg)
  +   
      ENDIF
                   
      !...................................................................
  
positive.code:       ErrMsg  = ""
  
  
     !...................................................................
     ! Calculate standard yaw position and rate commands:
     !...................................................................
  
     YawPosComInt = OtherState%YawPosComInt    ! get state value.  We don't update the state here.
     CALL CalculateStandardYaw(t, u, p, m, YawPosCom, YawRateCom, YawPosComInt, ErrStat, ErrMsg)
           
     !...................................................................
     ! Override standard yaw control with a linear maneuver if necessary:
  
negative.code:       ErrMsg  = ""
  
  
     !...................................................................
     ! Determine if override of standard yaw control with a linear maneuver is necessary:
     !...................................................................
  