reintroduce feedforward

1 files changed, 12 insertions, 1 deletions

diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
index b5ae1e6af..f15645fcf 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
@@ -69,22 +69,32 @@ public:
 
 	void set_k_p(float k_p) {
 			_k_p = k_p;
-		}
+	}
+
 	void set_k_i(float k_i) {
 		_k_i = k_i;
 	}
+
 	void set_k_d(float k_d) {
 		_k_d = k_d;
 	}
+
+	void set_k_ff(float k_ff) {
+		_k_ff = k_ff;
+	}
+
 	void set_integrator_max(float max) {
 		_integrator_max = max;
 	}
+
 	void set_max_rate(float max_rate) {
 		_max_rate = max_rate;
 	}
+
 	void set_k_roll_ff(float roll_ff) {
 		_roll_ff = roll_ff;
 	}
+
 	void set_coordinated_min_speed(float coordinated_min_speed) {
 		_coordinated_min_speed = coordinated_min_speed;
 	}
@@ -107,6 +117,7 @@ private:
 	float _k_p;
 	float _k_i;
 	float _k_d;
+	float _k_ff;
 	float _integrator_max;
 	float _max_rate;
 	float  _roll_ff;