From 935a21d05c1ee5117c19ee45e73379bbd5d25e2a Mon Sep 17 00:00:00 2001 From: ttechnick Date: Wed, 1 Apr 2026 18:56:38 +0200 Subject: [PATCH] fix(fw_attitude_control): correct turn coordination --- src/modules/fw_att_control/FixedwingAttitudeControl.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index 6158744bf6..87a91f8342 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -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));