From 584e7dcda484126b627a516a6f28036bcee244fd Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Sat, 14 Jul 2012 14:06:34 -0700
Subject: [PATCH] Arducopter: Removed Yaw Limit for Quads

---
 ArduCopter/Attitude.pde | 9 ---------
 1 file changed, 9 deletions(-)

diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 4fc0106ce6..561c709090 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -324,16 +324,7 @@ get_rate_yaw(int32_t target_rate)
 	d = g.pid_rate_yaw.get_d(rate_error, G_Dt);
 
 	output 	= p+i+d;
-
-#if FRAME_CONFIG == HELI_FRAME
 	output = constrain(output, -4500, 4500);
-#else
-	// output control:
-	int16_t yaw_limit = 1900 + abs(g.rc_4.control_in);
-
-	// constrain output
-	output = constrain(output, -yaw_limit, yaw_limit);
-#endif
 
 #if LOGGING_ENABLED == ENABLED
 	static int8_t log_counter = 0;					// used to slow down logging of PID values to dataflash