Fix st damping compensation bug. Enable yaw rotation. #1082
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travis通りましたので、こちらお手すきのときにご確認いただけますと幸いです。 |
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ありがとうございます。 |
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STのダンピング制御の補償項の回転成分が、yaw成分がはいっておらず常に０になってました。
ので、いれるようにしました。
@YutaKojio , @ishiguroJSK , @Tnoriaki
おそらくデフォルトパラメタなら挙動はほぼかわらないと思います（ゲインが1e5とかでデカいので）
問題あればおしてください