AC_AttitudeControl: check for zero rate Y max before taking min #18341
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peterbarker
reviewed
Aug 25, 2021
lthall
approved these changes
Aug 25, 2021
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.. and I guess this should be included in the next 4.1.0-beta release? |
yes |
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Were currently taking the min of
_ang_vel_yaw_maxandget_slew_yaw_rads._ang_vel_yaw_maxdefaults to 0 to disable meaning that the min is always zero and slew yaw is always ignored. This changes to only useget_slew_yaw_radsif_ang_vel_yaw_maxis 0, otherwise it uses the existing logic.This is a change in behavior but I think this was how the code was intended to work.
Fixes #12600