yaw_allowed=_rc_yaw.pwm_out*get_voltage_comp_gain();// to-do: this is bad form for yaw_allows to change meaning to become the amount that we are going to output
}else{
limit.yaw=true;
}
}else{
// if yawing left
yaw_allowed=-yaw_allowed;
if(yaw_allowed<_rc_yaw.pwm_out/_lift_max){
yaw_allowed=_rc_yaw.pwm_out/_lift_max;// to-do: this is bad form for yaw_allows to change meaning to become the amount that we are going to output
yaw_allowed=_rc_yaw.pwm_out*get_voltage_comp_gain();// to-do: this is bad form for yaw_allows to change meaning to become the amount that we are going to output