[paparazzi-commits] [paparazzi/paparazzi] 6d3689: [v_adapt] Fix vertical adaptive control

[GitHub]

  Branch: refs/heads/v3.9
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 6d3689c31de5681b972536ebf15f82b4c07fccf5
      
https://github.com/paparazzi/paparazzi/commit/6d3689c31de5681b972536ebf15f82b4c07fccf5
  Author: Gautier Hattenberger <address@hidden>
  Date:   2012-06-21 (Thu, 21 Jun 2012)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adpt.h

  Log Message:
  -----------
  [v_adapt] Fix vertical adaptive control

The mass estimation for the vertical control was not converging after
the modification of the range of input thrust from [0,200] to [0, 9600].
The resolution of the estimated value has been adapted to the new range.
This code has been tested in flight and maximum values have been checked
to prevent overflow, but a cross-check is always welcome.