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Fix missing 2P IPC yaw feedback update #511

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Fix missing 2P IPC yaw feedback update #511

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1 change: 1 addition & 0 deletions rosco/controller/src/Controllers.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -509,6 +509,7 @@ SUBROUTINE IPC(CntrPar, LocalVar, objInst, DebugVar, ErrVar)
! Pass rootMOOPs through the Coleman transform to get the tilt and yaw moment axis
CALL ColemanTransform(LocalVar%rootMOOPF, LocalVar%Azimuth, NP_1, LocalVar%axisTilt_1P, LocalVar%axisYaw_1P)
CALL ColemanTransform(LocalVar%rootMOOPF, LocalVar%Azimuth, NP_2, LocalVar%axisTilt_2P, LocalVar%axisYaw_2P)
LocalVar%axisYawF_2P = LocalVar%axisYaw_2P

! High-pass filter the MBC yaw component and filter yaw alignment error, and compute the yaw-by-IPC contribution
IF (CntrPar%Y_ControlMode == 2) THEN
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