Copter: remove constraint on rate yaw controller

12 years ago · 227185fd0f
1 changed files with 0 additions and 8 deletions
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@ -548,16 +548,8 @@ get_rate_yaw(int32_t target_rate)
				@@ -548,16 +548,8 @@ get_rate_yaw(int32_t target_rate)
    }
 #endif

-#if FRAME_CONFIG == TRI_FRAME
    // constrain output
    return output;
-#else // !TRI_FRAME
-    // output control:
-    int16_t yaw_limit = 2200 + abs(g.rc_4.control_in);
-
-    // smoother Yaw control:
-    return constrain_int32(output, -yaw_limit, yaw_limit);
-#endif // TRI_FRAME
 }
 #endif // !HELI_FRAME