It’s a bit strange to me that in Guided mode the yaw rate command is being wrapped, as on the line in the source code here: https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/mode_guided.cpp#L594. This means that a command of 6.28 rad/s is interpreted as a requested zero rotation rate, and the rotation direction flips at pi. What is the rationale behind this? What if I want to rotate at 7 rad/s?
I wasn’t sure if this is considered a bug or if I’m missing something, so I post it here instead of making an issue on Github right away. Please let me know if the Github issue list is the appropriate place for this remark.