From 4f44ccc182cd645e4d9dc2e7eec4330af4831f24 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Fri, 10 Feb 2012 22:22:19 -0800
Subject: [PATCH] get_acro_yaw added

---
 ArduCopter/Attitude.pde | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index ed4ea10023..0312f9b3aa 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -96,6 +96,14 @@ get_acro_pitch(int32_t target_rate)
 	return get_rate_pitch(target_rate);
 }
 
+static int
+get_acro_yaw(int32_t target_rate)
+{
+	target_rate = g.pi_stabilize_yaw.get_p(target_rate);
+	target_rate = constrain(target_rate, -15000, 15000);
+	return get_rate_yaw(target_rate);
+}
+
 static int
 get_rate_roll(int32_t target_rate)
 {