Copter: support CONDITION_YAW command during automatic takeoff

#### Issue details

if we run commands from console, UAV will not turn after that:

1. arm throttle
2. mode guided
3. takeoff 10
4. setyaw 90 5 0

But if we add position change between takeoff and condition_yaw, UAV will turn perfect:

1. arm throttle
2. mode guided
2. takeoff 10
3. position 1 0 0
4. setyaw 90 5 0

#### Version
3.5.1

#### Platform
[ ] All
[ ] AntennaTracker
[X] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

#### Airframe type
SITL, quad, hexa

#### Hardware type
SITL, pixhawk

#### Logs
_Please provide a link to any relevant logs that show the issue_

Start by reproducing the documented command sequence in Copter SITL: automatic takeoff followed immediately by `setyaw`, then compare it with the sequence that adds `position 1 0 0`. Done means CONDITION_YAW causes the vehicle to turn after automatic takeoff on the reported SITL and Pixhawk setups, without requiring an intervening position change.

Written by the indexing model from the issue text.