Arducopter: Temp reversion to old Yaw controller.

ArduCopter/Attitude.pde

@@ -129,6 +129,13 @@ get_acro_pitch(int32_t target_rate)
 
 static int16_t
 get_acro_yaw(int32_t target_rate)
+{
+	target_rate = g.pi_stabilize_yaw.get_p(target_rate);
+	return get_rate_yaw(target_rate);
+}
+
+static int16_t
+get_acro_yaw2(int32_t target_rate)
 {
 	static int32_t last_target_rate = 0;			// last iteration's target rate
 	int32_t p,i,d;									// used to capture pid values for logging
@@ -140,36 +147,36 @@ get_acro_yaw(int32_t target_rate)
 	target_rate = g.pi_stabilize_yaw.get_p(target_rate);
 	current_rate = omega.z * DEGX100;
 	rate_error = target_rate - current_rate;
-	
+
 	//Gain Scheduling:
 	//If the yaw input is to the right, but stick is moving to the middle
-	//and actual rate is greater than the target rate then we are 
+	//and actual rate is greater than the target rate then we are
 	//going to overshoot the yaw target to the left side, so we should
-	//strengthen the yaw output to slow down the yaw! 
-	
-#if (FRAME_CONFIG == HELI_FRAME	|| FRAME_CONFIG == TRI_FRAME)	
+	//strengthen the yaw output to slow down the yaw!
+
+#if (FRAME_CONFIG == HELI_FRAME	|| FRAME_CONFIG == TRI_FRAME)
 	if ( target_rate > 0 && last_target_rate > target_rate && rate_error < 0 ){
 		decel_boost = 1;
 	} else if (target_rate < 0 && last_target_rate < target_rate && rate_error > 0 ){
 		decel_boost = 1;
 	} else if (target_rate == 0 && abs(current_rate) > 1000){
-		decel_boost = 1;	
+		decel_boost = 1;
 	} else {
 		decel_boost = 0;
 	}
-	
+
 	last_target_rate = target_rate;
-	
+
 #else
 
 	decel_boost = 0;
-	
+
 #endif
-	
+
 	// separately calculate p, i, d values for logging
 	// we will use d=0, and hold i at it's last value
 	// since manual inputs are never steady state
-	
+
 	p = g.pid_rate_yaw.get_p(rate_error);
 	i = g.pid_rate_yaw.get_integrator();
 	d = 0;
@@ -177,10 +184,10 @@ get_acro_yaw(int32_t target_rate)
 	if (decel_boost){
 		p *= 2;
 	}
-	
+
 	output 	= p+i+d;
 
-	// output control:	
+	// output control:
 	// constrain output
 	output = constrain(output, -4500, 4500);
 
@@ -197,8 +204,6 @@ get_acro_yaw(int32_t target_rate)
 #endif
 
 	return output;
-	
-	
 }
 
 static int16_t