Fixed wing yaw angular rate calculation

Hi all,

I am working on runway takeoff mode suitable for FW seaplane with differential thrust.
Before throttle ramp, the plane is to turn with differential thrust to adjust heading towards takeoff WP.

I edited RunwayTakeoff.cpp and FixedWingPositionControl.cpp to achieve this and yaw set point was set as desired. Also fw_control_yaw is true.
However, the plane doesn’t turn its heading and yaw angular rate set point is constant zero as shown below.

Do you have any suggestion on how to make the plane turn on the spot?

Thank you as always.


FW_W_EN should’ve been set to Enabled.