AC_AttitudeControl: always use smaller of slew yaw and rate max #19735
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rmackay9
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Jan 24, 2022
rmackay9
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Jan 24, 2022
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waiting for review from @lthall |
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If we could see some evidence of testing that would be great. thanks for this! |
lthall
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Jan 25, 2022
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made changes, rebased and stepped through with GDB, works as expected. |
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lthall
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Jan 28, 2022
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Merged, thanks! |
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We had a error on line 581:
ardupilot/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
Line 571 in c878079
This was throwing away max slew yaw because
_ang_vel_yaw_maxdefaults to zero. The same bug as was fixed in #18341This adds some new methods to get max yaw rate and uses them in attitude control and copter auto yaw. Except for the bug fix above this should be no change in behavior.