[paparazzi-commits] [paparazzi/paparazzi] 8fe992: [airframes] use standard motor mixing types for so...

[GitHub]

  Branch: refs/heads/default_quad_x_mixing
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 8fe9926bfcb7ff76b378510377a8f143b48b320a
      
https://github.com/paparazzi/paparazzi/commit/8fe9926bfcb7ff76b378510377a8f143b48b320a
  Author: Felix Ruess <address@hidden>
  Date:   2015-07-16 (Thu, 16 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: 79b3f025f04129fcbef3415fb389f423b89395e7
      
https://github.com/paparazzi/paparazzi/commit/79b3f025f04129fcbef3415fb389f423b89395e7
  Author: Felix Ruess <address@hidden>
  Date:   2015-07-16 (Thu, 16 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/847b4fe35aae...79b3f025f041