From 332a612f358c280a7c29a89c8b8e168c985f8b92 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 23 Apr 2018 15:57:09 +0200
Subject: [PATCH] mc_att_control_main: do not apply the yaw weight for the
 feedforward term

The meaning of the yaw weight changed with #8003:
- before, the yaw weight decreased with increasing tilt angle error, so
  it was mostly 1
- now, it is constant and depends on the tuning gains (around 0.4 by default)

It means that #8003 reduced the feedforward term, and we get the closer
behavior as before with this change.
It also reduces coupling between different parameters.
---
 src/modules/mc_att_control/mc_att_control_main.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index ce47dfec46..7dc71e0d5b 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -424,7 +424,6 @@ MulticopterAttitudeControl::control_attitude(float dt)
 	 * because it's the rotation axis for body yaw and multiply it by the rate and gain. */
 	Vector3f yaw_feedforward_rate = q.inversed().dcm_z();
 	yaw_feedforward_rate *= _v_att_sp.yaw_sp_move_rate * _yaw_ff.get();
-	yaw_feedforward_rate(2) *= yaw_w;
 	_rates_sp += yaw_feedforward_rate;
 
 
-- 
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