[paparazzi-commits] [5943] change scaling of feedforward gains in rate mode, gains effectively four times higher now

[Felix Ruess]

Revision: 5943
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5943
Author:   flixr
Date:     2010-09-24 14:10:41 +0000 (Fri, 24 Sep 2010)
Log Message:
-----------
change scaling of feedforward gains in rate mode, gains effectively four times 
higher now

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_rate.c

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_rate.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_rate.c   
2010-09-24 14:10:22 UTC (rev 5942)
+++ paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_rate.c   
2010-09-24 14:10:41 UTC (rev 5943)
@@ -156,7 +156,7 @@
   RATES_ADD(booz_stabilization_rate_ref, _delta_ref);
 
   /* compute feed-forward command */
-  RATES_EWMULT_RSHIFT(booz_stabilization_rate_ff_cmd, 
booz_stabilization_rate_ddgain, booz_stabilization_rate_refdot, 16);
+  RATES_EWMULT_RSHIFT(booz_stabilization_rate_ff_cmd, 
booz_stabilization_rate_ddgain, booz_stabilization_rate_refdot, 14);
 
 
   /* compute feed-back command */