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fix(fw_attitude_control): correct turn coordination

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ttechnick 2026-04-01 18:56:38 +02:00 committed by Nick
parent d2e3668ad9
commit 935a21d05c
1 changed files with 0 additions and 3 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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@ -310,9 +310,6 @@ void FixedwingAttitudeControl::Run()
const float yawrate_ff = CONSTANTS_ONE_G * q1 / V;
const float pitchrate_ff = q1 * yawrate_ff / (1.f - 2.f * q_current(1) * q_current(1) - 2.f * q_current(2) * q_current(2));
body_rates_setpoint(1) += pitchrate_ff;
body_rates_setpoint(2) += yawrate_ff;
// Limit turn coordination to normal flight envelope
const float cos_tilt = 1.f - 2.f * (q_current(1) * q_current(1) + q_current(2) * q_current(2));
const float tilt = acosf(math::constrain((cos_tilt), -1.f, 1.f));