[paparazzi-commits] [paparazzi/paparazzi] 2509dc: improve vertical adaptation filter

[GitHub]

  Branch: refs/heads/dev
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 2509dc157fd1d7d98794e3d3dc428bf0f82fad5b
      
https://github.com/paparazzi/paparazzi/commit/2509dc157fd1d7d98794e3d3dc428bf0f82fad5b
  Author: Gautier Hattenberger <address@hidden>
  Date:   2012-03-14 (Wed, 14 Mar 2012)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
  M sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adpt.h
  M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_none.c

  Log Message:
  -----------
  improve vertical adaptation filter

- ADAPT_NOISE_FACTOR allows to control convergence speed
- ref_zd is used to lower confidence when asking to climb/descend
- ADAPT_HOVER flag is not needed (default and only behavior
- large values of commands or measurements are discarded
- handle correctly SUPERVISION_MIN/MAX