code: def rover_yaw_rate(VFR_HUD, SERVO_OUTPUT_RAW):
      '''return yaw rate in degrees/second given steering_angle and speed'''
      max_wheel_turn=35
      speed = VFR_HUD.groundspeed
      # assume 1100 to 1900 PWM on steering
      steering_angle = max_wheel_turn * (SERVO_OUTPUT_RAW.servo1_raw - 1500) / 400.0
      if abs(steering_angle) < 1.0e-6 or abs(speed) < 1.0e-6:
          return 0
      d = rover_turn_circle(SERVO_OUTPUT_RAW)
      c = pi * d
      t = c / speed
      rate = 360.0 / t
      return ratf rover_yaw_rate(VFR_HUD, SERVO_OUTPUT_RAW):
      '''return yaw rate in degrees/second given steering_angle and speed'''
      max_wheel_turn=35
      speed = VFR_HUD.groundspeed
      # assume 1100 to 1900 PWM on steering
      steering_angle = max_wheel_turn * (SERVO_OUTPUT_RAW.servo1_raw - 1500) / 400.0
      if abs(steering_angle) < 1.0e-6 or abs(speed) < 1.0e-6:
          return 0
      d = rover_turn_circle(SERVO_OUTPUT_RAW)
      c = pi * d
      t = c / speed
      rate = 360.0 / t
      return rate
docs: return yaw rate in degrees/second given steering_angle and speed