get_acro_yaw added

13 years ago · c64d781dce
1 changed files with 8 additions and 0 deletions
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@ -96,6 +96,14 @@ get_acro_pitch(int32_t target_rate)
				@@ -96,6 +96,14 @@ get_acro_pitch(int32_t target_rate)
 	return get_rate_pitch(target_rate);
 }

+static int
+get_acro_yaw(int32_t target_rate)
+{
+	target_rate = g.pi_stabilize_yaw.get_p(target_rate);
+	target_rate = constrain(target_rate, -15000, 15000);
+	return get_rate_yaw(target_rate);
+}
+
 static int
 get_rate_roll(int32_t target_rate)
 {