forked from Archive/PX4-Autopilot
add experimantal acceleration feedback by @kd0aij
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@ -181,7 +181,8 @@ float ECL_YawController::control_bodyrate_impl(const struct ECL_ControlData &ctl
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/* Close the acceleration loop if _coordinated_method wants this: change body_rate setpoint */
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/* Close the acceleration loop if _coordinated_method wants this: change body_rate setpoint */
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if (_coordinated_method == COORD_METHOD_CLOSEACC) {
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if (_coordinated_method == COORD_METHOD_CLOSEACC) {
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//XXX
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//XXX: filtering of acceleration?
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_bodyrate_setpoint -= (ctl_data.acc_body_y / (airspeed * cosf(ctl_data.pitch)));
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}
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}
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/* Transform estimation to body angular rates (jacobian) */
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/* Transform estimation to body angular rates (jacobian) */
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