[paparazzi-commits] [paparazzi/paparazzi] 8ba2c0: [rotorcraft] heading integration protection in RC-...

[GitHub]

  Branch: refs/heads/rc_heading_integration_protection
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 8ba2c0848fbc7976da127581c7bd8959eb1f4ebe
      
https://github.com/paparazzi/paparazzi/commit/8ba2c0848fbc7976da127581c7bd8959eb1f4ebe
  Author: Felix Ruess <address@hidden>
  Date:   2015-05-04 (Mon, 04 May 2015)

  Changed paths:
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c

  Log Message:
  -----------
  [rotorcraft] heading integration protection in RC-event

The PSI += .... was highly depending on the RC-frame rate.
With most RC this is not a problem but with variable message rates (e.g. 
rc_datalink dropping messages or joysticks sending too many frames) this line 
becomes dangerous.

So measure the time between to calls to read_rc_setpoint function instead of 
using a fixed RC_UPDATE_FREQ.
To prevent really weird things from happening, bound dt to 0.5s.

Don't partuculariliy like that this pulls in the sys_time dependency here,
but couldn't think of something better...

should close #452