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mc_att_control: clarify comment about yaw feed forward

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Matthias Grob 2018-03-15 17:45:32 +01:00 committed by Beat Küng
parent ff25c7f48a
commit ed0b6db2de
1 changed files with 3 additions and 4 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
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@ -878,10 +878,9 @@ MulticopterAttitudeControl::control_attitude(float dt)
eq = eq.emult(attitude_gain);
_rates_sp = math::Vector<3>(eq.data());
/* Feed forward the yaw setpoint rate. We need to transform the yaw from world into body frame.
* The following is a simplification of:
* R.transposed() * Vector3f(0.f, 0.f, _v_att_sp.yaw_sp_move_rate * _params.yaw_ff)
*/
/* Feed forward the yaw setpoint rate. We need to apply the yaw rate in the body frame.
* We infer the body z axis by taking the last column of R.transposed (== q.inversed)
* because it's the rotation axis for body yaw and multiply it by the rate and gain. */
Vector3f yaw_feedforward_rate = q.inversed().dcm_z();
yaw_feedforward_rate *= _v_att_sp.yaw_sp_move_rate * _params.yaw_ff;