From b3b7f2d3d2b011b4be7751261947afb5e5d3024b Mon Sep 17 00:00:00 2001
From: Mathias Bos <mathias.bos@kuleuven.be>
Date: Mon, 22 Feb 2021 18:05:28 +0100
Subject: [PATCH] Copter: Remove yaw rate wrapping in guided mode.

---
 ArduCopter/mode_guided.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index a67b853c0a..2e7664a204 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -591,7 +591,7 @@ void ModeGuided::angle_control_run()
 
     // wrap yaw request
     float yaw_in = wrap_180_cd(guided_angle_state.yaw_cd);
-    float yaw_rate_in = wrap_180_cd(guided_angle_state.yaw_rate_cds);
+    float yaw_rate_in = guided_angle_state.yaw_rate_cds;
 
     float climb_rate_cms = 0.0f;
     if (!guided_angle_state.use_thrust) {