mc_att_control: remove useless parameter MC_YAW_FF

It scales the yawspeed setpoint arbitrarily by default with 0.5.
This makes no sense because when you give a setpoint of 1rad/s then
you expect the setpoint to get executed. If you want manual yawspeed
response to be less agressive on the stick use the scaling parameter
for the stick MPC_MAN_Y_MAX.

ROMFS/px4fmu_common/init.d/10017_steadidrone_qu4d

@@ -36,7 +36,6 @@ then
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
 
 	param set BAT_N_CELLS 4
 fi

ROMFS/px4fmu_common/init.d/12002_steadidrone_mavrik

@@ -37,7 +37,6 @@ then
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
 
 	param set MPC_HOLD_MAX_XY 0.25
 	param set MPC_THR_MIN 0.15

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -28,7 +28,6 @@ then
 	param set MC_PITCHRATE_D 0.003
 	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 3.8
-	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0

ROMFS/px4fmu_common/init.d/13002_firefly6

@@ -33,7 +33,6 @@ then
 	param set MC_PITCHRATE_D 0.004
 	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 4.0
-	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0

ROMFS/px4fmu_common/init.d/13005_vtol_AAERT_quad

@@ -39,7 +39,6 @@ then
 	param set MC_PITCHRATE_D 0.004
 	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 2.8
-	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0

ROMFS/px4fmu_common/init.d/13006_vtol_standard_delta

@@ -35,7 +35,6 @@ then
 	param set MC_PITCHRATE_D 0.003
 	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 3.5
-	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0

ROMFS/px4fmu_common/init.d/13007_vtol_AAVVT_quad

@@ -27,7 +27,6 @@ then
 	param set MC_PITCHRATE_D 0.003
 	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 2.8
-	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.22
 	param set MC_YAWRATE_I 0.02
 	param set MC_YAWRATE_D 0.0

ROMFS/px4fmu_common/init.d/13008_QuadRanger

@@ -30,7 +30,6 @@ then
 	param set MC_PITCHRATE_D 0.004
 	param set MC_PITCHRATE_FF 0.0
 	param set MC_YAW_P 3.5
-	param set MC_YAW_FF 0.7
 	param set MC_YAWRATE_P 0.6
 	param set MC_YAWRATE_I 0.04
 	param set MC_YAWRATE_D 0.0

ROMFS/px4fmu_common/init.d/13012_convergence

@@ -62,7 +62,6 @@ then
 	param set MC_ROLL_P   6.0
 	param set MC_YAWRATE_MAX  120
 	param set MC_YAWRATE_P    0.27
-	param set MC_YAW_FF   0.35
 	param set MC_YAW_P    2.5
 
 	param set MC_YAWRATE_P 0.3

ROMFS/px4fmu_common/init.d/13013_deltaquad

@@ -93,7 +93,6 @@ then
 	param set MC_PITCHRATE_FF 0.0
 	param set MC_PITCHRATE_MAX 80
 	param set MC_YAW_P 3.5
-	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0

ROMFS/px4fmu_common/init.d/15001_coax_heli

@@ -37,7 +37,6 @@ then
 	param set MC_PITCHRATE_D 0.005
 	param set MC_PITCHRATE_FF 0
 	param set MC_YAW_P 2
-	param set MC_YAW_FF 0.5
 	param set MC_YAWRATE_P 0.1
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0

ROMFS/px4fmu_common/init.d/16001_helicopter

@@ -39,7 +39,6 @@ then
 	param set MC_YAWRATE_P 0.1
 	param set MC_YAWRATE_I 0.0
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.0
 	param set MC_ROLLRATE_MAX 720.0
 	param set MC_PITCHRATE_MAX 720.0
 	param set MC_YAWRATE_MAX 400.0

ROMFS/px4fmu_common/init.d/4003_qavr5

@@ -26,7 +26,6 @@ then
 	param set MC_YAWRATE_P 0.15
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
 	param set MC_TPA_BREAK_P 0.7
 	param set MC_TPA_RATE_P 0.3
 	param set PWM_MIN 1075

ROMFS/px4fmu_common/init.d/4009_qav250

@@ -24,7 +24,6 @@ then
 	param set MC_YAWRATE_P 0.3
 	param set MC_YAWRATE_I 0.2
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
 	param set PWM_MIN 1075
 	param set MPC_THR_MIN 0.06
 	param set MPC_MANTHR_MIN 0.06

ROMFS/px4fmu_common/init.d/4013_bebop

@@ -35,7 +35,6 @@ then
 	param set MC_YAWRATE_P 0.05
 	param set MC_YAWRATE_I 0.001
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.7
 fi
 
 set OUTPUT_MODE bebop

ROMFS/px4fmu_common/init.d/4050_generic_250

@@ -24,7 +24,6 @@ then
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
 
 	param set MC_ROLLRATE_MAX 1600.0
 	param set MC_PITCHRATE_MAX 1600.0

ROMFS/px4fmu_common/init.d/4051_s250aq

@@ -40,7 +40,6 @@ then
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
 	param set MC_ROLLRATE_MAX 720.0
 	param set MC_PITCHRATE_MAX 720.0
 	param set MC_YAWRATE_MAX 400.0

ROMFS/px4fmu_common/init.d/4070_aerofc

@@ -41,7 +41,6 @@ then
 	param set MC_YAWRATE_P 0.119999997317790985
 	param set MC_YAWRATE_I 0.050000000745058060
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
 
 	param set MPC_LAND_SPEED 0.7000
 	param set MPC_MANTHR_MIN 0.0400

ROMFS/px4fmu_common/init.d/4080_zmr250

@@ -31,7 +31,6 @@ then
 	param set MC_YAWRATE_P 0.15
 	param set MC_YAWRATE_I 0.2
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
 
 	param set MC_ACRO_R_MAX 1000.0
 	param set MC_ACRO_P_MAX 1000.0

ROMFS/px4fmu_common/init.d/4090_nanomind

@@ -31,7 +31,6 @@ then
 	param set MC_YAWRATE_P 0.2
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
-	param set MC_YAW_FF 0.5
 
 	param set BAT_N_CELLS 1
 

posix-configs/bebop/px4.config

@@ -15,7 +15,6 @@ param set MPC_XY_VEL_MAX 2
 
 param set MC_YAW_P 4.0
 param set MC_YAWRATE_P 0.08
-param set MC_YAW_FF 0.5
 
 param set MC_ROLLRATE_P 0.08
 param set MC_ROLLRATE_D 0.001

src/modules/mc_att_control/mc_att_control.hpp

@@ -204,8 +204,6 @@ private:
 		(ParamFloat<px4::params::MC_YAWRATE_D>) _yaw_rate_d,
 		(ParamFloat<px4::params::MC_YAWRATE_FF>) _yaw_rate_ff,
 
-		(ParamFloat<px4::params::MC_YAW_FF>) _yaw_ff,					/**< yaw control feed-forward */
-
 		(ParamFloat<px4::params::MC_DTERM_CUTOFF>) _d_term_cutoff_freq,			/**< Cutoff frequency for the D-term filter */
 
 		(ParamFloat<px4::params::MC_TPA_BREAK_P>) _tpa_breakpoint_p,			/**< Throttle PID Attenuation breakpoint */

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -430,16 +430,14 @@ MulticopterAttitudeControl::control_attitude(float dt)
 	_rates_sp = eq.emult(attitude_gain);
 
 	/* Feed forward the yaw setpoint rate.
-	 * The yaw_feedforward_rate is a commanded rotation around the world z-axis,
+	 * yaw_sp_move_rate is the feed forward commanded rotation around the world z-axis,
 	 * but we need to apply it in the body frame (because _rates_sp is expressed in the body frame).
 	 * Therefore we infer the world z-axis (expressed in the body frame) by taking the last column of R.transposed (== q.inversed)
-	 * and multiply it by the yaw setpoint rate (yaw_sp_move_rate) and gain (_yaw_ff).
+	 * and multiply it by the yaw setpoint rate (yaw_sp_move_rate).
 	 * This yields a vector representing the commanded rotatation around the world z-axis expressed in the body frame
 	 * such that it can be added to the rates setpoint.
 	 */
-	Vector3f yaw_feedforward_rate = q.inversed().dcm_z();
+	_rates_sp += q.inversed().dcm_z() * _v_att_sp.yaw_sp_move_rate;
-	yaw_feedforward_rate *= _v_att_sp.yaw_sp_move_rate * _yaw_ff.get();
-	_rates_sp += yaw_feedforward_rate;
 
 
 	/* limit rates */

src/modules/mc_att_control/mc_att_control_params.c

@@ -263,19 +263,6 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
  */
 PARAM_DEFINE_FLOAT(MC_YAWRATE_FF, 0.0f);
 
-/**
- * Yaw feed forward
- *
- * Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
- *
- * @min 0.0
- * @max 1.0
- * @decimal 2
- * @increment 0.01
- * @group Multicopter Attitude Control
- */
-PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
-
 /**
  * Max roll rate
  *