From 22067a1128d8cca40eb4c86ada531ff84332928d Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 12 Aug 2022 17:07:37 +0200 Subject: [PATCH] FW attitude control: set FF gains for rate controller to 0 as FF controls is handles outside Signed-off-by: Silvan Fuhrer --- src/modules/fw_att_control/FixedwingAttitudeControl.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index 2a0525d3f2..c5a86360a3 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -104,7 +104,8 @@ FixedwingAttitudeControl::parameters_update() Vector3f(_param_fw_rr_imax.get(), _param_fw_pr_imax.get(), _param_fw_yr_imax.get())); _rate_control.setFeedForwardGain( - Vector3f(_param_fw_rr_ff.get(), _param_fw_pr_ff.get(), _param_fw_yr_ff.get())); + // set FF gains to 0 as we add the FF control outside of the rate controller + Vector3f(0.f, 0.f, 0.f)); return PX4_OK;