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Changed the intendation to tabs

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Signed-off-by: Ivo Drescher <ivo.drescher@gmail.com>
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Ivo Drescher
2018-06-13 11:13:19 +02:00
committed by Matthias Grob
parent 77d4554e6d
commit 42ebbd14bb
1 changed files with 7 additions and 7 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+7 -7
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@@ -418,13 +418,13 @@ MulticopterAttitudeControl::control_attitude(float dt)
_rates_sp = eq.emult(attitude_gain);
/* Feed forward the yaw setpoint rate.
* The yaw_feedforward_rate is a commanded rotation around the world z-axis,
* but we need to apply it in the body frame (because _rates_sp is expressed in the body frame).
* Therefore we infer the world z-axis (expressed in the body frame) by taking the last column of R.transposed (== q.inversed)
* and multiply it by the yaw setpoint rate (yaw_sp_move_rate) and gain (_yaw_ff).
* This yields a vector representing the commanded rotatation around the world z-axis expressed in the body frame
* such that it can be added to the rates setpoint.
*/
* The yaw_feedforward_rate is a commanded rotation around the world z-axis,
* but we need to apply it in the body frame (because _rates_sp is expressed in the body frame).
* Therefore we infer the world z-axis (expressed in the body frame) by taking the last column of R.transposed (== q.inversed)
* and multiply it by the yaw setpoint rate (yaw_sp_move_rate) and gain (_yaw_ff).
* This yields a vector representing the commanded rotatation around the world z-axis expressed in the body frame
* such that it can be added to the rates setpoint.
*/
Vector3f yaw_feedforward_rate = q.inversed().dcm_z();
yaw_feedforward_rate *= _v_att_sp.yaw_sp_move_rate * _yaw_ff.get();
_rates_sp += yaw_feedforward_rate;