[paparazzi-commits] [paparazzi/paparazzi] d6a756: [airframes] use standard motor mixing types for so...

[GitHub]

  Branch: refs/heads/default_quad_x_mixing
  Home:   https://github.com/paparazzi/paparazzi
  Commit: d6a7562c0003ab9fbdbf37cce32a44811d330bb2
      
https://github.com/paparazzi/paparazzi/commit/d6a7562c0003ab9fbdbf37cce32a44811d330bb2
  Author: Felix Ruess <address@hidden>
  Date:   2015-07-21 (Tue, 21 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: 6ada818beb00f020b38cd1e290ca029e341fcdb3
      
https://github.com/paparazzi/paparazzi/commit/6ada818beb00f020b38cd1e290ca029e341fcdb3
  Author: Felix Ruess <address@hidden>
  Date:   2015-07-21 (Tue, 21 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/79b3f025f041...6ada818beb00