I'm wondering where the Feed Forward terms are implemented in the Multicopter Position Controller.
I see where the parameters come in to the code and set
MulticopterPositionControl::do_control(float dt) it seems that
vel_ff is set to zero. I do not see anywhere else in the code that
vel_ff exists (using Ctrl+F).
Are the feed forward terms being used at all? Does changing these gains in QGroundControl actually change anything inside the controller? If so, where does this change occur? I'd like to understand the implementation strategy before blindly changing parameter values.