From d6201bb13728ff7b1a5453678a6ed09882ad3058 Mon Sep 17 00:00:00 2001 From: JaeyoungLim Date: Wed, 26 Oct 2022 16:40:54 +0200 Subject: [PATCH] ADD TODO --- src/modules/dob_rate_control/DobControl.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/dob_rate_control/DobControl.cpp b/src/modules/dob_rate_control/DobControl.cpp index 3971197289..2ce180a008 100644 --- a/src/modules/dob_rate_control/DobControl.cpp +++ b/src/modules/dob_rate_control/DobControl.cpp @@ -56,6 +56,7 @@ Vector3f DobControl::update(const Vector3f &rate, const Vector3f actuator_sp, const float dt, const bool landed) { // angular rates error + ///TODO: Use angular acceleration instead of differentiator Vector3f diff = differentiator(rate, dt); matrix::Vector3f integ_input = actuator_sp - diff;