From 8812fde77c27da1db22d4f512f1b28540f7d60bd Mon Sep 17 00:00:00 2001
From: infiniteCable2 <steffen.dahansi.werner@googlemail.com>
Date: Sun, 7 Sep 2025 17:22:27 +0200
Subject: [PATCH] pass yaw directly

---
 selfdrive/controls/controlsd.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 72cb5a014..aca2910f5 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -197,6 +197,7 @@ class Controls(ControlsExt, ModelStateBase):
     CC.rollCompensation = self.roll_compensation
     
     if self.calibrated_pose is not None:
+      CC.yawRate = self.calibrated_pose.angular_velocity.yaw
       CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
       CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()