diff options
Diffstat (limited to 'src')
| -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) */ |