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docs(fw_att_ctrl): update quat turn coordination

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fix(fw_att_control): use correct formula
This commit is contained in:
ttechnick
2026-03-12 18:05:23 +01:00
committed by Nick
parent a42e7ebb2a
commit 82bf75df0f
3 changed files with 10 additions and 4 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+3 -1
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@@ -32,6 +32,8 @@
****************************************************************************/
#include "FixedwingAttitudeControl.hpp"
#include <lib/geo/geo.h>
using namespace time_literals;
using namespace matrix;
@@ -309,7 +311,7 @@ void FixedwingAttitudeControl::Run()
const float V = math::max(get_airspeed_constrained(), 0.1f);
const float q1 = 2.f * (q_current(0) * q_current(1) + q_current(2) * q_current(3));
const float r_tc_ff = CONSTANTS_ONE_G * q1 / V;
const float p_tc_ff = q1 * r_tc_ff / (1.f - 2.f * q_current(1) * q_current(1) - 2.f * q_current(2) * q_current(2));
const float p_tc_ff = 2.f * q1 * r_tc_ff / (1.f - 2.f * q_current(1) * q_current(1) - 2.f * q_current(2) * q_current(2));
body_rates_setpoint(1) += p_tc_ff;
body_rates_setpoint(2) += r_tc_ff;
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
-1
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@@ -35,7 +35,6 @@
#include <drivers/drv_hrt.h>
#include "fw_wheel_controller.h"
#include <lib/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>