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[paparazzi-commits] [4284] Fix quaternion reference generation in case o
From: |
Allen Ibara |
Subject: |
[paparazzi-commits] [4284] Fix quaternion reference generation in case of ap_periodic prescaler |
Date: |
Mon, 19 Oct 2009 21:02:45 +0000 |
Revision: 4284
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4284
Author: aibara
Date: 2009-10-19 21:02:44 +0000 (Mon, 19 Oct 2009)
Log Message:
-----------
Fix quaternion reference generation in case of ap_periodic prescaler
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
Modified:
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
2009-10-19 20:43:58 UTC (rev 4283)
+++
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
2009-10-19 21:02:44 UTC (rev 4284)
@@ -47,7 +47,7 @@
* Reference
*/
#ifdef BOOZ_AP_PERIODIC_PRESCALE
-#define DT_UPDATE ((1./PERIODIC_FREQ)/BOOZ_AP_PERIODIC_PRESCALE)
+#define DT_UPDATE ((float) BOOZ_AP_PERIODIC_PRESCALE / (float) PERIODIC_FREQ)
#else
#define DT_UPDATE (1./512.)
#endif
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