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added FF term to turn coordination

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This commit is contained in:
Marvin Harms
2022-06-21 11:19:56 +02:00
parent 470ed93972
commit 258da619e0
2 changed files with 5 additions and 5 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+1 -1
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@@ -1183,7 +1183,7 @@ FixedwingPositionINDIControl::_compute_INDI_stage_1(Vector3f pos_ref, Vector3f v
}
// not really a accel command, rather a FF-P command
rot_acc_command(2) = _K_w(2,2)*(omega_turn_ref(2) - omega_filtered(2));
rot_acc_command(2) = _K_q(2,2)*omega_turn_ref(2) + _K_w(2,2)*(omega_turn_ref(2) - omega_filtered(2));
return rot_acc_command;
}