From c24f9561e99fdf1bb890bc057fcd3bf14a0110c8 Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Mon, 21 Nov 2022 17:08:08 +0100
Subject: [PATCH] FW Att C: use new param FW_MAN_YR_MAX to control yawing with
 sticks in attitude controlled mode

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 .../fw_att_control/FixedwingAttitudeControl.cpp   |  4 ++--
 .../fw_att_control/FixedwingAttitudeControl.hpp   |  4 +++-
 .../fw_att_control/fw_att_control_params.c        | 15 +++++++++++++++
 3 files changed, 20 insertions(+), 3 deletions(-)

diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
index e10a5e65b1..8cfdee6f17 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -549,9 +549,9 @@ void FixedwingAttitudeControl::Run()
 						}
 					}
 
-					/* add yaw rate setpoint from sticks in Stabilized mode */
+					/* add yaw rate setpoint from sticks in all attitude-controlled modes */
 					if (_vcontrol_mode.flag_control_manual_enabled) {
-						body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.r * radians(_param_fw_y_rmax.get()),
+						body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.r * radians(_param_fw_man_yr_max.get()),
 									  -radians(_param_fw_y_rmax.get()), radians(_param_fw_y_rmax.get()));
 					}
 
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
index 07e3590ba7..c40517a91c 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
@@ -240,7 +240,9 @@ private:
 
 		(ParamFloat<px4::params::TRIM_PITCH>) _param_trim_pitch,
 		(ParamFloat<px4::params::TRIM_ROLL>) _param_trim_roll,
-		(ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw
+		(ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw,
+
+		(ParamFloat<px4::params::FW_MAN_YR_MAX>) _param_fw_man_yr_max
 	)
 
 	ECL_RollController		_roll_ctrl;
diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
index 355d85995d..57d31c3e44 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -805,3 +805,18 @@ PARAM_DEFINE_FLOAT(FW_SPOILERS_DESC, 0.f);
  * @group FW Attitude Control
  */
 PARAM_DEFINE_INT32(FW_SPOILERS_MAN, 0);
+
+/**
+ * Maximum manually added yaw rate
+ *
+ * This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode.
+ * The controller already generates a yaw rate setpoint to coordinate a turn, and this value is added to it.
+ * This is an absolute value, which is applied symmetrically to the negative and positive side.
+ *
+ * @unit deg/s
+ * @min 0
+ * @decimal 1
+ * @increment 0.5
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_MAN_YR_MAX, 30.f);