return yaw rate in degrees/second given steering_angle and speed

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 rate