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yaw controller: deactivate lateral acceleration control for now but

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put comment of how to do it properly

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2017-02-12 11:40:14 +01:00
committed by Lorenz Meier
parent f300877db4
commit 66b7773059
1 changed files with 2 additions and 2 deletions
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attitude_fw/ecl_yaw_controller.cpp
+2 -2
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@@ -161,8 +161,8 @@ float ECL_YawController::control_bodyrate(const struct ECL_ControlData &ctl_data
/* Close the acceleration loop if _coordinated_method wants this: change body_rate setpoint */ /* Close the acceleration loop if _coordinated_method wants this: change body_rate setpoint */
if (_coordinated_method == COORD_METHOD_CLOSEACC) { if (_coordinated_method == COORD_METHOD_CLOSEACC) {
//XXX: filtering of acceleration? // XXX lateral acceleration needs to go into integrator with a gain
_bodyrate_setpoint -= (ctl_data.acc_body_y / (airspeed * cosf(ctl_data.pitch))); //_bodyrate_setpoint -= (ctl_data.acc_body_y / (airspeed * cosf(ctl_data.pitch)));
} }
/* Calculate body angular rate error */ /* Calculate body angular rate error */