[paparazzi-commits] [paparazzi/paparazzi] c3b41d: [stabilization] Float euler bounding and scaling f...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: c3b41db698fd5984021f37f783a0900bde5f79d0
      
https://github.com/paparazzi/paparazzi/commit/c3b41db698fd5984021f37f783a0900bde5f79d0
  Author: podhrmic <address@hidden>
  Date:   2013-11-12 (Tue, 12 Nov 2013)

  Changed paths:
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c

  Log Message:
  -----------
  [stabilization] Float euler bounding and scaling fix
- added BoundAbs to properly bound the commands
- removed gain denominators in the control loop (i.e. now the gains should be 
more consistent with other stabilization systems)

First, it is easier to set your gains now, as the values set by GCS/airframe 
config are the ones actually used (no division).
Second, the gains are in the same range as for other stabilization systems (no 
need to change xml settings files for GCS to get proper range).


  Commit: 6e5469d0cdd65e54406375e462a6c9226ec84cb8
      
https://github.com/paparazzi/paparazzi/commit/6e5469d0cdd65e54406375e462a6c9226ec84cb8
  Author: podhrmic <address@hidden>
  Date:   2013-11-13 (Wed, 13 Nov 2013)

  Changed paths:
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c

  Log Message:
  -----------
  [stabilization] fixed MAX_SUM_ERR


  Commit: f6a720f18cbdc4c61eca8e667bbf9e5d7253265e
      
https://github.com/paparazzi/paparazzi/commit/f6a720f18cbdc4c61eca8e667bbf9e5d7253265e
  Author: Felix Ruess <address@hidden>
  Date:   2013-11-18 (Mon, 18 Nov 2013)

  Changed paths:
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c

  Log Message:
  -----------
  Merge pull request #588 from podhrmic/master

[stabilization] Float euler bounding and scaling fix

you need to divide the old dd-gain by 512 and the old i-gain by 1024.


Compare: 
https://github.com/paparazzi/paparazzi/compare/96d7347f4ac2...f6a720f18cbd