From 164096225b89db08337c9cc67bf253409d301a7b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 3 Aug 2017 21:41:07 +0900
Subject: [PATCH] AP_SteerController: fix get_steering_out_rate bug when
 reversing

---
 libraries/APM_Control/AP_SteerController.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/APM_Control/AP_SteerController.cpp b/libraries/APM_Control/AP_SteerController.cpp
index efda79e4f9..d82ed41265 100644
--- a/libraries/APM_Control/AP_SteerController.cpp
+++ b/libraries/APM_Control/AP_SteerController.cpp
@@ -145,7 +145,7 @@ int32_t AP_SteerController::get_steering_out_rate(float desired_rate)
     // We do this in earth frame to allow for rover leaning over in hard corners
     float yaw_rate_earth = ToDeg(_ahrs.get_yaw_rate_earth());
     if (_reverse) {
-        yaw_rate_earth = wrap_180(180 + yaw_rate_earth);
+        yaw_rate_earth *= -1.0f;
     }
     float rate_error = (desired_rate - yaw_rate_earth) * scaler;