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Attitude control: clarify comment about yaw feed forward #9086

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Mar 15, 2018
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Attitude control: clarify comment about yaw feed forward #9086

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7 changes: 3 additions & 4 deletions src/modules/mc_att_control/mc_att_control_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -878,10 +878,9 @@ MulticopterAttitudeControl::control_attitude(float dt)
eq = eq.emult(attitude_gain);
_rates_sp = math::Vector<3>(eq.data());

/* Feed forward the yaw setpoint rate. We need to transform the yaw from world into body frame.
* The following is a simplification of:
* R.transposed() * Vector3f(0.f, 0.f, _v_att_sp.yaw_sp_move_rate * _params.yaw_ff)
*/
/* Feed forward the yaw setpoint rate. We need to apply the yaw rate in the body frame.
* We infer the body z axis by taking the last column of R.transposed (== q.inversed)
* 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 * _params.yaw_ff;

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