yaw controller: deactivate lateral acceleration control for now but

put comment of how to do it properly

Signed-off-by: Roman <bapstroman@gmail.com>

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?
+		// XXX lateral acceleration needs to go into integrator with a gain
-		_bodyrate_setpoint -= (ctl_data.acc_body_y / (airspeed * cosf(ctl_data.pitch)));
+		//_bodyrate_setpoint -= (ctl_data.acc_body_y / (airspeed * cosf(ctl_data.pitch)));
 	}
 
 	/* Calculate body angular rate error */