apply roll/pitch acro_rate_max in MC attitude controller

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -656,11 +656,14 @@ MulticopterAttitudeControl::control_attitude(float dt)
 	/* calculate angular rates setpoint */
 	_rates_sp = _params.att_p.emult(e_R);
 
-	/* limit rates */
-	for (int i = 0; i < 3; i++) {
-		_rates_sp(i) = math::constrain(_rates_sp(i), -_params.mc_rate_max(i), _params.mc_rate_max(i));
+	/* limit roll and pitch rates */
+	for (int i = 0; i < 2; i++) {
+		_rates_sp(i) = math::constrain(_rates_sp(i), -_params.acro_rate_max(i), _params.acro_rate_max(i));
 	}
 
+	/* limit yaw rate */
+	_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max);
+
 	/* feed forward yaw setpoint rate */
 	_rates_sp(2) += _v_att_sp.yaw_sp_move_rate * yaw_w * _params.yaw_ff;
 }