That was certainly what was written to have occurred in the novelization of Dinosaurs.Only criticism I have of the Pertwee era is they probably went to the well with The Master a little bit too much, bit other than that, it's the most consistently strong era of Who from start to finish.
Two of my favourite Pertwee stories often fly under the radar in fandom, Carnival of Monsters, and Invasion of The Dinosaurs !!!
In hindsight, I do think they missed an opportunity of sorts to try write a background of Captain Yates treachery by having him been seriously affected and traumatized by what he saw at Global Chemicals in The Green Death, that would have been a really good and believable character arc, but its a very good plot twist though.