From 909fee420566f43468f26c56ce87d2d49bdeddeb Mon Sep 17 00:00:00 2001
From: KiteAnton <anton.stalheim@gmail.com>
Date: Mon, 8 Aug 2016 14:26:11 +0200
Subject: [PATCH] Add Yaw RC Rate as adjustment function

---
 src/main/io/rc_controls.c | 10 ++++++++++
 src/main/io/rc_controls.h |  1 +
 2 files changed, 11 insertions(+)

diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
index c3ba253b87..697ccf2357 100644
--- a/src/main/io/rc_controls.c
+++ b/src/main/io/rc_controls.c
@@ -470,6 +470,11 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
         .adjustmentFunction = ADJUSTMENT_ROLL_D,
         .mode = ADJUSTMENT_MODE_STEP,
         .data = { .stepConfig = { .step = 1 }}
+    },
+    {
+        .adjustmentFunction = ADJUSTMENT_RC_RATE_YAW,
+        .mode = ADJUSTMENT_MODE_STEP,
+        .data = { .stepConfig = { .step = 1 }}
     }
 };
 
@@ -595,6 +600,11 @@ static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t
             pidProfile->D8[PIDYAW] = newValue;
             blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
             break;
+        case ADJUSTMENT_RC_RATE_YAW:
+            newValue = constrain((int)controlRateConfig->rcYawRate8 + delta, 0, 300); // FIXME magic numbers repeated in serial_cli.c
+            controlRateConfig->rcYawRate8 = newValue;
+            blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE_YAW, newValue);
+            break;
         default:
             break;
     };
diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h
index a3622aacab..339dea94c6 100644
--- a/src/main/io/rc_controls.h
+++ b/src/main/io/rc_controls.h
@@ -195,6 +195,7 @@ typedef enum {
     ADJUSTMENT_ROLL_P,
     ADJUSTMENT_ROLL_I,
     ADJUSTMENT_ROLL_D,
+	ADJUSTMENT_RC_RATE_YAW,
     ADJUSTMENT_FUNCTION_COUNT,
 
 } adjustmentFunction_e;