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add experimantal acceleration feedback by @kd0aij

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Thomas Gubler
2015-02-15 10:13:49 +01:00
committed by Lorenz Meier
parent e14023e98f
commit edc5f8a057
1 changed files with 2 additions and 1 deletions
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src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+2 -1
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@@ -181,7 +181,8 @@ float ECL_YawController::control_bodyrate_impl(const struct ECL_ControlData &ctl
/* 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 //XXX: filtering of acceleration?
_bodyrate_setpoint -= (ctl_data.acc_body_y / (airspeed * cosf(ctl_data.pitch)));
} }
/* Transform estimation to body angular rates (jacobian) */ /* Transform estimation to body angular rates (jacobian) */