// do_set_yaw_speed - turn to a specified heading and achieve and given speed
void ModeAuto::do_nav_set_yaw_speed(const AP_Mission::Mission_Command& cmd)
{
float desired_heading_cd;
// get final angle, 1 = Relative, 0 = Absolute
if (cmd.content.set_yaw_speed.relative_angle > 0) {
// relative angle
desired_heading_cd = wrap_180_cd(ahrs.yaw_sensor + cmd.content.set_yaw_speed.angle_deg * 100.0f);
} else {
// absolute angle
desired_heading_cd = cmd.content.set_yaw_speed.angle_deg * 100.0f;
}
// set auto target
const float speed_max = get_speed_default();
set_desired_heading_and_speed(desired_heading_cd, constrain_float(cmd.content.set_yaw_speed.speed, -speed_max, speed_max));
}
// restore desired speed to default from parameter values (CRUISE_SPEED or WP_SPEED)
void Mode::set_desired_speed_to_default(bool rtl)
{
_desired_speed = get_speed_default(rtl);
}