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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-04 13:28:15 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-15 10:13:49 +0100 |
| commit | edc5f8a05723b91bff7975dd4a5f60c62b275809 (patch) | |
| tree | 2b7543c83e59e9134d821077cce65df1f59fe3e2 /src/lib | |
| parent | e14023e98fcae1edcd28a61e2164d4848b4990ef (diff) | |
| download | px4-firmware-edc5f8a05723b91bff7975dd4a5f60c62b275809.tar.gz px4-firmware-edc5f8a05723b91bff7975dd4a5f60c62b275809.tar.bz2 px4-firmware-edc5f8a05723b91bff7975dd4a5f60c62b275809.zip | |
add experimantal acceleration feedback by @kd0aij
Diffstat (limited to 'src/lib')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index f85c622e4..a87906749 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -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 */ 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) */ |