use MC auto rates always in AUTO

removed duplicate weathervaning limit

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -724,32 +724,26 @@ MulticopterAttitudeControl::control_attitude(float dt)
 
 	/* limit rates */
 	for (int i = 0; i < 3; i++) {
-		if (_v_control_mode.flag_control_velocity_enabled && !_v_control_mode.flag_control_manual_enabled) {
+		if ((_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_auto_enabled) &&
+		    !_v_control_mode.flag_control_manual_enabled) {
 			_rates_sp(i) = math::constrain(_rates_sp(i), -_params.auto_rate_max(i), _params.auto_rate_max(i));
+
 		} else {
 			_rates_sp(i) = math::constrain(_rates_sp(i), -_params.mc_rate_max(i), _params.mc_rate_max(i));
 		}
 	}
 
-	/* weather-vane mode, dampen yaw rate */
-	if (_v_att_sp.disable_mc_yaw_control == true && _v_control_mode.flag_control_velocity_enabled && !_v_control_mode.flag_control_manual_enabled) {
-		float wv_yaw_rate_max = _params.auto_rate_max(2) * _params.vtol_wv_yaw_rate_scale;
-		_rates_sp(2) = math::constrain(_rates_sp(2), -wv_yaw_rate_max, wv_yaw_rate_max);
-		// prevent integrator winding up in weathervane mode
-		_rates_int(2) = 0.0f;
-	}
-
 	/* feed forward yaw setpoint rate */
 	_rates_sp(2) += _v_att_sp.yaw_sp_move_rate * yaw_w * _params.yaw_ff;
 
-	/* weather-vane mode, scale down yaw rate */
-	if (_v_att_sp.disable_mc_yaw_control == true && _v_control_mode.flag_control_velocity_enabled && !_v_control_mode.flag_control_manual_enabled) {
+	/* weather-vane mode, dampen yaw rate */
+	if ((_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_auto_enabled) &&
+	    _v_att_sp.disable_mc_yaw_control == true && !_v_control_mode.flag_control_manual_enabled) {
 		float wv_yaw_rate_max = _params.auto_rate_max(2) * _params.vtol_wv_yaw_rate_scale;
 		_rates_sp(2) = math::constrain(_rates_sp(2), -wv_yaw_rate_max, wv_yaw_rate_max);
 		// prevent integrator winding up in weathervane mode
 		_rates_int(2) = 0.0f;
 	}
-
 }
 
 /*