UseHCWFeedforward

Declared in ROEFormationControllerSoftware

Declaration

[Unit("")]
bool UseHCWFeedforward;

Description

When true, adds full Clohessy-Wiltshire feedforward at the reference state: a_ff = (-3n²x_ref - 2n·vy_ref, +2n·vx_ref, +n²z_ref) so the controller cancels natural drift and coupling and can reach/hold the R-bar and V-bar with tight tolerance.