[paparazzi-commits] [paparazzi/paparazzi] 6a99ae: [rotorcraft] stabilization quat_int IERROR scale f...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 6a99ae4536efda4542fb5e5bef1a9515dadc54a4
      
https://github.com/paparazzi/paparazzi/commit/6a99ae4536efda4542fb5e5bef1a9515dadc54a4
  Author: Felix Ruess <address@hidden>
  Date:   2015-06-30 (Tue, 30 Jun 2015)

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

  Log Message:
  -----------
  [rotorcraft] stabilization quat_int IERROR scale fix

This should (tm) result in less of a quantization error for the integral part 
(less static offset).
Reduce the GAIN_PRESCALER_I accordingly so that the gains set in the airframe 
file keep same scale.

While here also simplify the fb command prescalers/scaling...


  Commit: c389e0c7e7d33a3a3ed9c5a4de81981bb9d28e53
      
https://github.com/paparazzi/paparazzi/commit/c389e0c7e7d33a3a3ed9c5a4de81981bb9d28e53
  Author: Felix Ruess <address@hidden>
  Date:   2015-07-07 (Tue, 07 Jul 2015)

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

  Log Message:
  -----------
  Merge pull request #1205 from flixr/stab_int_quat_prescalers

stabilization quat_int IERROR scale fix

This should (tm) result in less of a quantization error for the integral part 
(less static offset).
Reduce the GAIN_PRESCALER_I accordingly so that the gains set in the airframe 
file keep same scale.

While here also simplify the fb command prescalers/scaling...


Compare: 
https://github.com/paparazzi/paparazzi/compare/3518cd61dcb3...c389e0c7e7d3