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FW attitude control: set FF gains for rate controller to 0 as FF controls is handles outside

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2022-08-19 09:40:48 +02:00
parent 57e052d02d
commit 22067a1128
1 changed files with 2 additions and 1 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+2 -1
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@@ -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;