[paparazzi-commits] [paparazzi/paparazzi] fad2d7: [rotorcraft] CAUTION! ref_quat scaling fix

[GitHub]

  Branch: refs/heads/ref_quat_scale
  Home:   https://github.com/paparazzi/paparazzi
  Commit: fad2d7bbe2a0dc6b28027061784138429918578c
      
https://github.com/paparazzi/paparazzi/commit/fad2d7bbe2a0dc6b28027061784138429918578c
  Author: Felix Ruess <address@hidden>
  Date:   2014-04-06 (Sun, 06 Apr 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.


  Commit: 5a2e765b104d2a65249d2d56f0c714357b757af9
      
https://github.com/paparazzi/paparazzi/commit/5a2e765b104d2a65249d2d56f0c714357b757af9
  Author: Felix Ruess <address@hidden>
  Date:   2014-04-06 (Sun, 06 Apr 2014)

  Changed paths:
    M conf/airframes/ardrone2_raw.xml
    M conf/airframes/ardrone2_raw_optitrack.xml
    M conf/airframes/examples/booz2.xml
    M conf/airframes/examples/h_hex.xml
    M conf/airframes/examples/krooz_sd/krooz_sd_bre_hexa_mkk.xml
    M conf/airframes/examples/krooz_sd/krooz_sd_hexa_mkk.xml
    M conf/airframes/examples/krooz_sd/krooz_sd_okto_mkk.xml
    M conf/airframes/examples/krooz_sd/krooz_sd_quad_mkk.xml
    M conf/airframes/examples/krooz_sd/krooz_sd_quad_pwm.xml
    M conf/airframes/examples/lisa_asctec.xml
    M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
    M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum_geo_mag.xml
    M conf/airframes/examples/quadrotor_lisa_m_mkk.xml
    M conf/airframes/examples/quadrotor_lisa_mx.xml
    M conf/airframes/examples/quadrotor_lisa_s.xml
    M conf/airframes/examples/quadrotor_mlkf.xml
    M conf/airframes/examples/quadrotor_navgo.xml
    M conf/airframes/examples/quadrotor_px4fmu.xml
    M conf/airframes/examples/quadshot_asp21_spektrum.xml
    M conf/airframes/examples/stm32f4_discovery_test.xml
    M conf/airframes/fraser_lisa_m_rotorcraft.xml
    M sw/airborne/test/stabilization/generated/airframe.h

  Log Message:
  -----------
  [conf] rotorcrafts: update REF_OMEGA_x in examples

to half the value than before


Compare: 
https://github.com/paparazzi/paparazzi/compare/c1e0d8862d2c...5a2e765b104d