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[paparazzi-commits] [paparazzi/paparazzi] d6a756: [airframes] use standa
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[paparazzi-commits] [paparazzi/paparazzi] d6a756: [airframes] use standard motor mixing types for so... |
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Date: |
Tue, 21 Jul 2015 13:10:55 -0700 |
Branch: refs/heads/v5.5
Home: https://github.com/paparazzi/paparazzi
Commit: d6a7562c0003ab9fbdbf37cce32a44811d330bb2
https://github.com/paparazzi/paparazzi/commit/d6a7562c0003ab9fbdbf37cce32a44811d330bb2
Author: Felix Ruess <address@hidden>
Date: 2015-07-21 (Tue, 21 Jul 2015)
Changed paths:
M conf/airframes/ardrone2.xml
M conf/airframes/ardrone2_indi.xml
M conf/airframes/ardrone2_opticflow_hover.xml
M conf/airframes/bebop.xml
M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
M conf/airframes/examples/quadrotor_navgo.xml
M conf/conf_example.xml
Log Message:
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[airframes] use standard motor mixing types for some quads
This will change the effect of the gains (depending on the type), but should be
finally correct.
Especially the yaw commands have about half the effect now...
Commit: 6ada818beb00f020b38cd1e290ca029e341fcdb3
https://github.com/paparazzi/paparazzi/commit/6ada818beb00f020b38cd1e290ca029e341fcdb3
Author: Felix Ruess <address@hidden>
Date: 2015-07-21 (Tue, 21 Jul 2015)
Changed paths:
M conf/airframes/ardrone2.xml
M conf/airframes/ardrone2_opticflow_hover.xml
M conf/airframes/bebop.xml
Log Message:
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[airframes] update gains for ardrone and bebop
After changing the motor mixing to the predefined QUAD_X type, multiply the
roll/pitch gains by sqrt(2) and yaw by 2.
This should result in the same effectiveness of the gains as before.
Compare:
https://github.com/paparazzi/paparazzi/compare/7f4ffbbda209...6ada818beb00