MAVLink/Commander: @Pedro-Roque's offboard yawrate handling

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -837,6 +837,14 @@ MulticopterAttitudeControl::run()
 					}
 
 					control_attitude();
+					if (_v_control_mode.flag_control_yawrate_override_enabled)
+					{
+						/* Yaw rate override enabled, overwrite the yaw setpoint */
+						vehicle_rates_setpoint_poll();
+						const auto yawrate_reference = _v_rates_sp.yaw;
+						_rates_sp(2) = yawrate_reference;
+					}
+
 					publish_rates_setpoint();
 				}