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Copter: AutoYaw: use get_slew_yaw_max_degs in place of get_slew_yaw_cds

This commit is contained in:
Iampete1 2022-01-27 21:04:03 +00:00 committed by Randy Mackay
parent b3646494d4
commit 3189bd7c0d
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/autoyaw.cpp
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@ -124,9 +124,9 @@ void Mode::AutoYaw::set_fixed_yaw(float angle_deg, float turn_rate_ds, int8_t di
// get turn speed
if (!is_positive(turn_rate_ds)) {
// default to default slew rate
_fixed_yaw_slewrate_cds = copter.attitude_control->get_slew_yaw_cds();
_fixed_yaw_slewrate_cds = copter.attitude_control->get_slew_yaw_max_degs() * 100.0;
} else {
_fixed_yaw_slewrate_cds = MIN(copter.attitude_control->get_slew_yaw_cds(), turn_rate_ds * 100.0);
_fixed_yaw_slewrate_cds = MIN(copter.attitude_control->get_slew_yaw_max_degs(), turn_rate_ds) * 100.0;
}
// set yaw mode