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LP-604 changed low pass filter to have a significantly ( factor 10 ) smaller Tau than the feed forward term itself, otherwise the filter delay nulls the feed forward effect
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flight/modules/Stabilization/stabilization.c

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -372,7 +372,7 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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// calculation
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const float fakeDt = 0.0025f;
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for (int t = 0; t < STABILIZATIONBANK_ATTITUDEFEEDFORWARD_NUMELEM; t++) {
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float tau = StabilizationBankAttitudeFeedForwardToArray(stabSettings.stabBank.AttitudeFeedForward)[t];
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float tau = StabilizationBankAttitudeFeedForwardToArray(stabSettings.stabBank.AttitudeFeedForward)[t] * 0.1f;
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if (tau < 0.0001f) {
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stabSettings.feedForward_alpha[t] = 0.0f; // not trusting this to resolve to 0
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} else {

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