Can I take off as the orientation which I placed the drone?

[calmelo]

When I run px4_fast_planner.launch, the drone will take off and rotate to the East. I want the drone don't rotate. I try to let the orientation equal to the home_pos_'orientation, and this can make the drone take off without rotation. However, there is other problem. So, how can I solve the problem? How can I make the drone take off without rotation?