From a91ebccd885519e65d093c1d9dc7e6f2514930a2 Mon Sep 17 00:00:00 2001
From: Eric Price <eric.price@tuebingen.mpg.de>
Date: Fri, 19 Oct 2018 10:05:01 +0200
Subject: [PATCH] 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

---
 flight/modules/Stabilization/stabilization.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flight/modules/Stabilization/stabilization.c b/flight/modules/Stabilization/stabilization.c
index c5fa49472..0d29dd63f 100644
--- a/flight/modules/Stabilization/stabilization.c
+++ b/flight/modules/Stabilization/stabilization.c
@@ -372,7 +372,7 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
     // calculation
     const float fakeDt = 0.0025f;
     for (int t = 0; t < STABILIZATIONBANK_ATTITUDEFEEDFORWARD_NUMELEM; t++) {
-        float tau = StabilizationBankAttitudeFeedForwardToArray(stabSettings.stabBank.AttitudeFeedForward)[t];
+        float tau = StabilizationBankAttitudeFeedForwardToArray(stabSettings.stabBank.AttitudeFeedForward)[t] * 0.1f;
         if (tau < 0.0001f) {
             stabSettings.feedForward_alpha[t] = 0.0f; // not trusting this to resolve to 0
         } else {