AP_Scripting: fixed rudder in sport aerobatics

libraries/AP_Scripting/applets/Aerobatics/FixedWing/RateBased/sport_aerobatics.lua

@@ -284,6 +284,12 @@ function recover_alt()
        return target_pitch, pitch_rate, yaw_rate
 end
 
+function set_rate_targets(throttle, roll_rate, pitch_rate, yaw_rate)
+   -- we don't want a rudder offset, and we do want yaw rate
+   vehicle:set_rudder_offset(0, true)
+   vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, yaw_rate)
+end
+
 --  start of trick routines---------------------------------------------------------------------------------
 function do_axial_roll(arg1, arg2)
    -- constant roll rate axial roll, arg1 roll rate, arg2 is number of rolls
@@ -328,7 +334,7 @@ function do_axial_roll(arg1, arg2)
       throttle = throttle_controller()
       target_pitch = height_PI.update(initial_height)
       pitch_rate, yaw_rate = pitch_controller(target_pitch, wp_yaw_deg, PITCH_TCONST:get())
-      vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, yaw_rate)
+      set_rate_targets(throttle, roll_rate, pitch_rate, yaw_rate)
    end
 end
 
@@ -402,7 +408,7 @@ function do_loop(arg1, arg2)
   else
      roll_rate = earth_frame_wings_level(level_type)
   end
-   vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, 0)
+  set_rate_targets(throttle, roll_rate, pitch_rate, 0)
 end
 
 
@@ -454,7 +460,7 @@ function do_rolling_circle(arg1, arg2)
       pitch_rate, yaw_rate = pitch_controller(target_pitch, wrap_360(circle_yaw_deg+initial_yaw_deg), PITCH_TCONST:get())
       throttle = throttle_controller()
       throttle = constrain(throttle, 0, 100.0)
-      vehicle:set_target_throttle_rate_rpy(throttle, roll_rate_dps, pitch_rate, yaw_rate)
+      set_rate_targets(throttle, roll_rate_dps, pitch_rate, yaw_rate)
    end
 end
 
@@ -483,7 +489,7 @@ function do_knife_edge(arg1,arg2)
         target_pitch = height_PI.update(initial_height)
         pitch_rate, yaw_rate = pitch_controller(target_pitch, wp_yaw_deg, PITCH_TCONST:get())
         throttle = throttle_controller()
-        vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, yaw_rate)
+        set_rate_targets(throttle, roll_rate, pitch_rate, yaw_rate)
     else
         gcs:send_text(5, string.format("Finished Knife Edge", arg1))
         running = false
@@ -512,7 +518,7 @@ function do_pause(arg1,arg2)
         target_pitch = height_PI.update(initial_height)
         pitch_rate, yaw_rate = pitch_controller(target_pitch, wp_yaw_deg, PITCH_TCONST:get())
         throttle = throttle_controller()
-        vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, yaw_rate)
+        set_rate_targets(throttle, roll_rate, pitch_rate, yaw_rate)
     else 
         running = false
         gcs:send_text(5, string.format("Pause Over"))
@@ -585,7 +591,7 @@ function do_knifedge_circle(arg1, arg2)
       pitch_rate, yaw_rate = pitch_controller(target_pitch, wrap_360(circle_yaw_deg+initial_yaw_deg), PITCH_TCONST:get())
       throttle = throttle_controller()
       throttle = constrain(throttle, 0, 100.0)
-      vehicle:set_target_throttle_rate_rpy(throttle, roll_rate_dps, pitch_rate, yaw_rate)
+      set_rate_targets(throttle, roll_rate_dps, pitch_rate, yaw_rate)
    end
 end
 
@@ -666,7 +672,7 @@ function do_4point_roll(arg1, arg2)
       throttle = throttle_controller()
       target_pitch = height_PI.update(initial_height)
       pitch_rate, yaw_rate = pitch_controller(target_pitch, wp_yaw_deg, PITCH_TCONST:get())
-      vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, yaw_rate)
+      set_rate_targets(throttle, roll_rate, pitch_rate, yaw_rate)
    end
 end
 
@@ -708,7 +714,7 @@ function do_split_s(arg1, arg2)
       end
    end 
    throttle = throttle_controller() 
-   vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, 0) 
+   set_rate_targets(throttle, roll_rate, pitch_rate, 0)
 end
  
 function get_wp_location(i)