Re: [Paparazzi-devel] Hidden bug

[antoine drouin]

You're welcome. Also if you want the natural pulsations and damping parameters to mean... what the usually mean, i would advise multiplying the error quaternion by 4.omega.xi rather than by 2.omega.xi

Finally, when defining saturations ( as in #define STABILIZATION_ATTITUDE_REF_MAX_RDOT RadOfDeg(1800.) ), i believe there is something fishy with homogeneity

On Wed, Feb 5, 2014 at 10:25 PM, Felix Ruess <address@hidden> wrote:

Thanks Antoine!

Fixed...

About pre-computing 2*xi*omega and omega^2: didn't do that in init, because these values can be changed via settings.... it could be moved to a settings handler though, so it's recomputed if the setting is changed.

Cheers, Felix

On Tue, Feb 4, 2014 at 10:39 PM, antoine drouin <address@hidden> wrote:

additionally, computing 2.xi.omega and omega^2 (line 140 to 145) could probably be done at initialization rather than at every update step. Maybe also more clearly written as vector operations.

On Tue, Feb 4, 2014 at 10:18 PM, antoine drouin <address@hidden> wrote:

in

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c#L123

  - FLOAT_QUAT_COMP(new_ref_quat, delta_q, stab_att_ref_quat);

  +FLOAT_QUAT_COMP(new_ref_quat, stab_att_ref_quat, delta_q);

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