[Date Prev][Date Next][Thread Prev][Thread Next][Date Index][Thread Index]
[paparazzi-commits] [paparazzi/paparazzi] fad2d7: [rotorcraft] CAUTION!
|
From: |
GitHub |
|
Subject: |
[paparazzi-commits] [paparazzi/paparazzi] fad2d7: [rotorcraft] CAUTION! ref_quat scaling fix |
|
Date: |
Thu, 10 Apr 2014 14:45:25 -0700 |
Branch: refs/heads/master
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
Commit: e40ff65a93cc27d152cba57278212f878c7a6055
https://github.com/paparazzi/paparazzi/commit/e40ff65a93cc27d152cba57278212f878c7a6055
Author: Felix Ruess <address@hidden>
Date: 2014-04-06 (Sun, 06 Apr 2014)
Changed paths:
A conf/settings/control/stabilization_att_int_quat.xml
M
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
M
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.c
M
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h
Log Message:
-----------
[rotorcraft] ref_quat_int: omega, zeta accessors and settings
Commit: f5acbced813092a59fbca0448e097c68f49904e6
https://github.com/paparazzi/paparazzi/commit/f5acbced813092a59fbca0448e097c68f49904e6
Author: Felix Ruess <address@hidden>
Date: 2014-04-06 (Sun, 06 Apr 2014)
Changed paths:
M conf/settings/control/stabilization_att_float_quat.xml
M
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
M
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
Log Message:
-----------
[rotorcraft] ref_quat_float: omega accessors and settings
Commit: f6ff7a6d7cc1b272f090ee896ef63385959e2cd6
https://github.com/paparazzi/paparazzi/commit/f6ff7a6d7cc1b272f090ee896ef63385959e2cd6
Author: Felix Ruess <address@hidden>
Date: 2014-04-06 (Sun, 06 Apr 2014)
Changed paths:
M conf/settings/control/stabilization_att_float_quat.xml
Log Message:
-----------
[conf] settings: fix typos in stabilization_att_float_quat
Commit: 2b57e3ad03ad28ba4941959d885bf669cb712fb0
https://github.com/paparazzi/paparazzi/commit/2b57e3ad03ad28ba4941959d885bf669cb712fb0
Author: Felix Ruess <address@hidden>
Date: 2014-04-10 (Thu, 10 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 conf/settings/control/stabilization_att_float_quat.xml
A conf/settings/control/stabilization_att_int_quat.xml
M
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_int.h
M
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c
M
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.h
M
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.c
M
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_int.h
M sw/airborne/test/stabilization/generated/airframe.h
Log Message:
-----------
Merge pull request #663 from paparazzi/ref_quat_scale
stabilization attitude: reference quaternion scale
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.
Compare:
https://github.com/paparazzi/paparazzi/compare/a2448b22687d...2b57e3ad03ad