[paparazzi-commits] [paparazzi/paparazzi] 214088: [airframes] use standard motor mixing types for so...

[GitHub]

  Branch: refs/heads/default_quad_x_mixing
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 214088343802ee27c739579e0f51eb2af6580b07
      
https://github.com/paparazzi/paparazzi/commit/214088343802ee27c739579e0f51eb2af6580b07
  Author: Felix Ruess <address@hidden>
  Date:   2015-07-15 (Wed, 15 Jul 2015)

  Changed paths:
    M conf/airframes/ardrone2.xml
    M conf/airframes/ardrone2_indi.xml
    M conf/airframes/ardrone2_opticflow_hover.xml
    M conf/airframes/bebop.xml
    M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
    M conf/airframes/examples/quadrotor_navgo.xml
    M conf/conf_example.xml

  Log Message:
  -----------
  [airframes] use standard motor mixing types for some quads

This will change the effect of the gains (depending on the type), but should be 
finally correct.
Especially the yaw commands have about half the effect now...


  Commit: 847b4fe35aae897371929c3f750e90cf7e3b1ef5
      
https://github.com/paparazzi/paparazzi/commit/847b4fe35aae897371929c3f750e90cf7e3b1ef5
  Author: Felix Ruess <address@hidden>
  Date:   2015-07-15 (Wed, 15 Jul 2015)

  Changed paths:
    M conf/airframes/ardrone2.xml
    M conf/airframes/ardrone2_opticflow_hover.xml
    M conf/airframes/bebop.xml

  Log Message:
  -----------
  [airframes] update gains for ardrone and bebop

After changing the motor mixing to the predefined QUAD_X type, multiply the 
roll/pitch gains by sqrt(2) and yaw by 2.
This should result in the same effectiveness of the gains as before.


Compare: 
https://github.com/paparazzi/paparazzi/compare/8312aea5639d...847b4fe35aae