AC_AttitudeControl: added get_rpy_srate()

and remove dmod binding, as slew rate turned out to be more useful

libraries/AC_AttitudeControl/AC_AttitudeControl.cpp

@@ -1133,12 +1133,12 @@ bool AC_AttitudeControl::pre_arm_checks(const char *param_prefix,
 }
 
 /*
-  get the PDmod value for roll, pitch and yaw, for oscillation
-   detection in lua scripts
+  get the slew rate for roll, pitch and yaw, for oscillation
+  detection in lua scripts
 */
-void AC_AttitudeControl::get_rpy_PDmod(float &roll_dmod, float &pitch_dmod, float &yaw_dmod)
+void AC_AttitudeControl::get_rpy_srate(float &roll_srate, float &pitch_srate, float &yaw_srate)
 {
-    roll_dmod = get_rate_roll_pid().get_pid_info().Dmod;
-    pitch_dmod = get_rate_pitch_pid().get_pid_info().Dmod;
-    yaw_dmod = get_rate_yaw_pid().get_pid_info().Dmod;
+    roll_srate = get_rate_roll_pid().get_pid_info().slew_rate;
+    pitch_srate = get_rate_pitch_pid().get_pid_info().slew_rate;
+    yaw_srate = get_rate_yaw_pid().get_pid_info().slew_rate;
 }

libraries/AC_AttitudeControl/AC_AttitudeControl.h

@@ -368,9 +368,9 @@ public:
     // enable inverted flight on backends that support it
     virtual void set_inverted_flight(bool inverted) {}
 
-    // get the PDmod value for roll, pitch and yaw, for oscillation detection in lua scripts
-    void get_rpy_PDmod(float &roll_dmod, float &pitch_dmod, float &yaw_dmod);
-
+    // get the slew rate value for roll, pitch and yaw, for oscillation detection in lua scripts
+    void get_rpy_srate(float &roll_srate, float &pitch_srate, float &yaw_srate);
+    
     // User settable parameters
     static const struct AP_Param::GroupInfo var_info[];