From 30cf4097c50fed228f14c80e2ea8876104872503 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 22 Jan 2014 15:05:22 +0100 Subject: fw: remove duplicate feedforward --- src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/lib/ecl/attitude_fw/ecl_roll_controller.cpp') diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 9e7d35f68..2e86c72dc 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -141,7 +141,7 @@ float ECL_RollController::control_bodyrate(float pitch, //warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max); /* Apply PI rate controller and store non-limited output */ - _last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained + _rate_setpoint * k_ff) * scaler * scaler; //scaler is proportional to 1/airspeed + _last_output = (_bodyrate_setpoint * _k_ff + _rate_error * _k_p + integrator_constrained) * scaler * scaler; //scaler is proportional to 1/airspeed return math::constrain(_last_output, -1.0f, 1.0f); } -- cgit v1.2.3