Copter: Remove yaw rate wrapping in guided mode.

4 years ago · b3b7f2d3d2
1 changed files with 1 additions and 1 deletions
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@ -591,7 +591,7 @@ void ModeGuided::angle_control_run()
				@@ -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) {