[paparazzi-commits] [paparazzi/paparazzi] 5a34f3: [MAX_BANK] In case of wind, the -20 to 20 max bank...

[GitHub]

  Branch: refs/heads/guidance_max_bank
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 5a34f367e95a62326648271161133f0142824955
      
https://github.com/paparazzi/paparazzi/commit/5a34f367e95a62326648271161133f0142824955
  Author: Christophe De Wagter <address@hidden>
  Date:   2013-09-26 (Thu, 26 Sep 2013)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c

  Log Message:
  -----------
  [MAX_BANK] In case of wind, the -20 to 20 max bank should become -40 deg in 
the wind direction and +0 in the opposite direction. The i-gain should be 
sufficiently SLOW but with HIGH authority. This commit suggests to split the 
max-bank from PD an I with separate saturation and have the I-gain before the 
integrator so better insight is gained in its authority.


  Commit: a1b5a66a089ee2f7dc67d231af52f9c9e33fbcb4
      
https://github.com/paparazzi/paparazzi/commit/a1b5a66a089ee2f7dc67d231af52f9c9e33fbcb4
  Author: Christophe De Wagter <address@hidden>
  Date:   2013-09-26 (Thu, 26 Sep 2013)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c

  Log Message:
  -----------
  [MAX_BANK] Rename for clarity


  Commit: f82b7bc57d368b78f28179bd0a3f1a8e07a7fa7a
      
https://github.com/paparazzi/paparazzi/commit/f82b7bc57d368b78f28179bd0a3f1a8e07a7fa7a
  Author: Christophe De Wagter <address@hidden>
  Date:   2013-09-26 (Thu, 26 Sep 2013)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c

  Log Message:
  -----------
  [GUIDANCE_H] Updated integrator dynamics: integrate twice as fast when not 
only POS but also SPEED are wrong, but do not integrate POS errors when the 
SPEED is already catching up.


Compare: 
https://github.com/paparazzi/paparazzi/compare/5a34f367e95a^...f82b7bc57d36