From 66b77730595da80006d6db09e512fbae83dc80ce Mon Sep 17 00:00:00 2001 From: Roman Date: Thu, 26 Jan 2017 09:30:17 +0100 Subject: [PATCH] yaw controller: deactivate lateral acceleration control for now but put comment of how to do it properly Signed-off-by: Roman --- attitude_fw/ecl_yaw_controller.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/attitude_fw/ecl_yaw_controller.cpp b/attitude_fw/ecl_yaw_controller.cpp index 44c9d00741..8d12dc85b1 100644 --- a/attitude_fw/ecl_yaw_controller.cpp +++ b/attitude_fw/ecl_yaw_controller.cpp @@ -161,8 +161,8 @@ float ECL_YawController::control_bodyrate(const struct ECL_ControlData &ctl_data /* Close the acceleration loop if _coordinated_method wants this: change body_rate setpoint */ if (_coordinated_method == COORD_METHOD_CLOSEACC) { - //XXX: filtering of acceleration? - _bodyrate_setpoint -= (ctl_data.acc_body_y / (airspeed * cosf(ctl_data.pitch))); + // XXX lateral acceleration needs to go into integrator with a gain + //_bodyrate_setpoint -= (ctl_data.acc_body_y / (airspeed * cosf(ctl_data.pitch))); } /* Calculate body angular rate error */