Copter: don't pass channel_yaw->norm_input_dz() into `get_pilot_des…

…ired_yaw_rate`

ArduCopter/autoyaw.cpp

@@ -314,7 +314,7 @@ AC_AttitudeControl::HeadingCommand Mode::AutoYaw::get_heading()
     _pilot_yaw_rate_cds = 0.0;
     if (!copter.failsafe.radio && copter.flightmode->use_pilot_yaw()) {
         // get pilot's desired yaw rate
-        _pilot_yaw_rate_cds = copter.flightmode->get_pilot_desired_yaw_rate(copter.channel_yaw->norm_input_dz());
+        _pilot_yaw_rate_cds = copter.flightmode->get_pilot_desired_yaw_rate();
         if (!is_zero(_pilot_yaw_rate_cds)) {
             auto_yaw.set_mode(AutoYaw::Mode::PILOT_RATE);
         }

ArduCopter/mode.cpp

@@ -1035,13 +1035,16 @@ Mode::AltHoldModeState Mode::get_alt_hold_state(float target_climb_rate_cms)
 
 // transform pilot's yaw input into a desired yaw rate
 // returns desired yaw rate in centi-degrees per second
-float Mode::get_pilot_desired_yaw_rate(float yaw_in)
+float Mode::get_pilot_desired_yaw_rate() const
 {
     // throttle failsafe check
     if (copter.failsafe.radio || !rc().has_ever_seen_rc_input()) {
         return 0.0f;
     }
 
+    // Get yaw input
+    const float yaw_in = channel_yaw->norm_input_dz();
+
     // convert pilot input to the desired yaw rate
     return g2.command_model_pilot.get_rate() * 100.0 * input_expo(yaw_in, g2.command_model_pilot.get_expo());
 }

ArduCopter/mode.h

@@ -163,7 +163,7 @@ class Mode {
     // pilot input processing
     void get_pilot_desired_lean_angles(float &roll_out_cd, float &pitch_out_cd, float angle_max_cd, float angle_limit_cd) const;
     Vector2f get_pilot_desired_velocity(float vel_max) const;
-    float get_pilot_desired_yaw_rate(float yaw_in);
+    float get_pilot_desired_yaw_rate() const;
     float get_pilot_desired_throttle() const;
 
     // returns climb target_rate reduced to avoid obstacles and

ArduCopter/mode_acro_heli.cpp

@@ -111,7 +111,7 @@ void ModeAcro_Heli::run()
             // if there is no external gyro then run the usual
             // ACRO_YAW_P gain on the input control, including
             // deadzone
-            yaw_in = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
+            yaw_in = get_pilot_desired_yaw_rate();
         }
 
         // run attitude controller

ArduCopter/mode_althold.cpp

@@ -36,7 +36,7 @@ void ModeAltHold::run()
     get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max_cd());
 
     // get pilot's desired yaw rate
-    float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
+    float target_yaw_rate = get_pilot_desired_yaw_rate();
 
     // get pilot desired climb rate
     float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());

ArduCopter/mode_autorotate.cpp

@@ -282,7 +282,7 @@ void ModeAutorotate::run()
             get_pilot_desired_lean_angles(pilot_roll, pilot_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
 
             // Get pilot's desired yaw rate
-            float pilot_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
+            float pilot_yaw_rate = get_pilot_desired_yaw_rate();
 
             // Pitch target is calculated in autorotation phase switch above
             attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(pilot_roll, _pitch_target, pilot_yaw_rate);

ArduCopter/mode_autotune.cpp

@@ -75,7 +75,7 @@ void AutoTune::get_pilot_desired_rp_yrate_cd(float &des_roll_cd, float &des_pitc
 {
     copter.mode_autotune.get_pilot_desired_lean_angles(des_roll_cd, des_pitch_cd, copter.aparm.angle_max,
                                                        copter.attitude_control->get_althold_lean_angle_max_cd());
-    yaw_rate_cds = copter.mode_autotune.get_pilot_desired_yaw_rate(copter.channel_yaw->norm_input_dz());
+    yaw_rate_cds = copter.mode_autotune.get_pilot_desired_yaw_rate();
 }
 
 /*

ArduCopter/mode_flowhold.cpp

@@ -248,7 +248,7 @@ void ModeFlowHold::run()
     target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), copter.g.pilot_speed_up);
 
     // get pilot's desired yaw rate
-    float target_yaw_rate = get_pilot_desired_yaw_rate(copter.channel_yaw->norm_input_dz());
+    float target_yaw_rate = get_pilot_desired_yaw_rate();
 
     // Flow Hold State Machine Determination
     AltHoldModeState flowhold_state = get_alt_hold_state(target_climb_rate);

ArduCopter/mode_loiter.cpp

@@ -102,7 +102,7 @@ void ModeLoiter::run()
         loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch);
 
         // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
+        target_yaw_rate = get_pilot_desired_yaw_rate();
 
         // get pilot desired climb rate
         target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());

ArduCopter/mode_poshold.cpp

@@ -83,7 +83,7 @@ void ModePosHold::run()
     get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, attitude_control->get_althold_lean_angle_max_cd());
 
     // get pilot's desired yaw rate
-    float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
+    float target_yaw_rate = get_pilot_desired_yaw_rate();
 
     // get pilot desired climb rate (for alt-hold mode and take-off)
     float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());

ArduCopter/mode_sport.cpp

@@ -62,7 +62,7 @@ void ModeSport::run()
     }
 
     // get pilot's desired yaw rate
-    float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
+    float target_yaw_rate = get_pilot_desired_yaw_rate();
 
     // get pilot desired climb rate
     float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());

ArduCopter/mode_stabilize.cpp

@@ -16,7 +16,7 @@ void ModeStabilize::run()
     get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
 
     // get pilot's desired yaw rate
-    float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
+    float target_yaw_rate = get_pilot_desired_yaw_rate();
 
     if (!motors->armed()) {
         // Motors should be Stopped

ArduCopter/mode_stabilize_heli.cpp

@@ -31,7 +31,7 @@ void ModeStabilize_Heli::run()
     get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
 
     // get pilot's desired yaw rate
-    float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
+    float target_yaw_rate = get_pilot_desired_yaw_rate();
 
     // get pilot's desired throttle
     pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());

ArduCopter/mode_systemid.cpp

@@ -176,7 +176,7 @@ void ModeSystemId::run()
         get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);
 
         // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
+        target_yaw_rate = get_pilot_desired_yaw_rate();
 
         if (!motors->armed()) {
             // Motors should be Stopped

ArduCopter/mode_zigzag.cpp

@@ -264,7 +264,7 @@ void ModeZigZag::auto_control()
     float target_yaw_rate = 0;
     if (!copter.failsafe.radio) {
         // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
+        target_yaw_rate = get_pilot_desired_yaw_rate();
     }
 
     // set motors to full range
@@ -305,7 +305,7 @@ void ModeZigZag::manual_control()
         // process pilot's roll and pitch input
         loiter_nav->set_pilot_desired_acceleration(target_roll, target_pitch);
         // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->norm_input_dz());
+        target_yaw_rate = get_pilot_desired_yaw_rate();
 
         // get pilot desired climb rate
         target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());