From 49d8b85c7f67b47ac38b516ec52218702d9ab197 Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Tue, 27 Feb 2024 17:23:13 +0100
Subject: [PATCH] FW Attitude Controller: fix manual yaw rate setpoint limit
 (#22812)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 src/modules/fw_att_control/FixedwingAttitudeControl.cpp | 2 +-
 src/modules/fw_att_control/FixedwingAttitudeControl.hpp | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
index 35632b7aec60..7de353c8f977 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -361,7 +361,7 @@ void FixedwingAttitudeControl::Run()
 
 					/* 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.yaw * radians(_param_fw_y_rmax.get()),
+						body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.yaw * radians(_param_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 20421f056dd5..6c902878e1f6 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
@@ -155,7 +155,8 @@ class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeContro
 		(ParamFloat<px4::params::FW_WR_IMAX>) _param_fw_wr_imax,
 		(ParamFloat<px4::params::FW_WR_P>) _param_fw_wr_p,
 
-		(ParamFloat<px4::params::FW_Y_RMAX>) _param_fw_y_rmax
+		(ParamFloat<px4::params::FW_Y_RMAX>) _param_fw_y_rmax,
+		(ParamFloat<px4::params::FW_MAN_YR_MAX>) _param_man_yr_max
 
 	)