mc_att_control_main: do not apply the yaw weight for the feedforward term #9360
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memset (http://www.cplusplus.com/reference/cstring/memset/) interprets the value argument as unsigned char, so passing a float will not work.
…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.
LorenzMeier
approved these changes
Apr 23, 2018
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Makes sense, that weight was only kept because it was there before but your resoning is correct and we're better off without. |
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The meaning of the yaw weight changed with #8003:
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.
This PR fixes a mixer initialization as well.