FlightTaskOrbit: correct acceleration feed-forward #15320
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The acceleration setpoint gets implicitly inherited from the altitude flight task since #14212. This feed-forward adds an unwanted acceleration when the right stick is deflected. Instead I'm using it to command the expected centripetal acceleration when flying in a circle for better orbit tracking.
bresch
approved these changes
Jul 14, 2020
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Describe problem solved by this pull request
The acceleration setpoint gets implicitly inherited from the altitude flight task since #14212. This feed-forward adds an unwanted acceleration when the right stick is deflected.
Describe your solution
Instead of the wrong acceleration setpoint I command the expected centripetal acceleration when flying in a circle as feed-forward for better orbit tracking. This is only possible since #14212.
Test data / coverage
I SITL tested and the direction and amplitude of the acceleration are exactly like expected.
It also leads to better tracking already with the default orbit radius and a bit increased speed like can be seen in the screenshots below.
Before (malicious feed-forward setpoint removed):
After (adding centripetal acceleration feed-forward):