AC_AttitudeControl: removed use of AFF for tail control in heli

libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp

@@ -351,7 +351,7 @@ void AC_AttitudeControl_Heli::rate_bf_to_motor_roll_pitch(float rate_roll_target
 // rate_bf_to_motor_yaw - ask the rate controller to calculate the motor outputs to achieve the target rate in radians/second
 float AC_AttitudeControl_Heli::rate_bf_to_motor_yaw(float rate_target_rads)
 {
-    float pd,i,vff,aff;     // used to capture pid values for logging
+    float pd,i,vff;     // used to capture pid values for logging
     float current_rate_rads;     // this iteration's rate
     float rate_error_rads;       // simply target_rate - current_rate
     float yaw_out;
@@ -384,10 +384,9 @@ float AC_AttitudeControl_Heli::rate_bf_to_motor_yaw(float rate_target_rads)
     
     // For legacy reasons, we convert to centi-degrees before inputting to the feedforward
     vff = yaw_velocity_feedforward_filter.apply(_pid_rate_yaw.get_vff(rate_target_rads), _dt);
-    aff = yaw_acceleration_feedforward_filter.apply(_pid_rate_yaw.get_aff(rate_target_rads), _dt);
     
     // add feed forward
-    yaw_out = pd + i + vff + aff;
+    yaw_out = pd + i + vff;
 
     // constrain output and update limit flag
     if (fabsf(yaw_out) > AC_ATTITUDE_RATE_YAW_CONTROLLER_OUT_MAX) {

libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h

@@ -26,7 +26,6 @@
 #define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE  0.02f
 #define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER          10.0f
 #define AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER          10.0f
-#define AC_ATTITUDE_HELI_RATE_Y_AFF_FILTER          10.0f
 #define AC_ATTITUDE_HELI_HOVER_ROLL_TRIM_DEFAULT    300
 
 class AC_AttitudeControl_Heli : public AC_AttitudeControl {
@@ -42,8 +41,7 @@ public:
         _pid_rate_yaw(AC_ATC_HELI_RATE_YAW_P, AC_ATC_HELI_RATE_YAW_I, AC_ATC_HELI_RATE_YAW_D, AC_ATC_HELI_RATE_YAW_IMAX, AC_ATC_HELI_RATE_YAW_FILT_HZ, dt, AC_ATC_HELI_RATE_YAW_FF),
         pitch_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER),
         roll_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER),
-        yaw_velocity_feedforward_filter(AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER),
-        yaw_acceleration_feedforward_filter(AC_ATTITUDE_HELI_RATE_Y_AFF_FILTER)
+        yaw_velocity_feedforward_filter(AC_ATTITUDE_HELI_RATE_Y_VFF_FILTER)
         {
             AP_Param::setup_object_defaults(this, var_info);