[paparazzi-commits] [paparazzi/paparazzi] 5ca0dc: [rotorcraft] CAUTION! ref_quat scaling fix

[GitHub]

  Branch: refs/heads/ref_quat_scale
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 5ca0dc5db8e2cb865c30d6c87f881be359c38434
      
https://github.com/paparazzi/paparazzi/commit/5ca0dc5db8e2cb865c30d6c87f881be359c38434
  Author: Felix Ruess <address@hidden>
  Date:   2014-03-07 (Fri, 07 Mar 2014)

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

  Log Message:
  -----------
  [rotorcraft] CAUTION! ref_quat scaling fix

Attitude reference quaternion:
Fix scale of angle in 2nd order model, since error quaternion contains the 
half-angles we get 2*omega^2*err

This means that you should halve your REF_OMEGA_[PQR] parameters to get nearly 
the same as before.