[paparazzi-commits] [6128] 10 bit resolution for heli actuators

[Eric]

Revision: 6128
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6128
Author:   lamestllama
Date:     2010-10-09 07:59:45 +0000 (Sat, 09 Oct 2010)
Log Message:
-----------
10 bit resolution for heli actuators

Modified Paths:
--------------
    
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c

Modified: 
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
===================================================================
--- 
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
  2010-10-09 07:55:01 UTC (rev 6127)
+++ 
paparazzi3/trunk/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
  2010-10-09 07:59:45 UTC (rev 6128)
@@ -145,7 +145,17 @@
     OFFSET_AND_ROUND2((stabilization_gains.i.z  * 
stabilization_att_sum_err.psi), 10);
 
   /* sum feedforward and feedback */
+#ifdef USE_HELI 
   stabilization_cmd[COMMAND_ROLL] =
+    
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_ROLL]+stabilization_att_ff_cmd[COMMAND_ROLL]),
 12);
+
+  stabilization_cmd[COMMAND_PITCH] =
+    
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_PITCH]+stabilization_att_ff_cmd[COMMAND_PITCH]),
 12);
+
+  stabilization_cmd[COMMAND_YAW] =
+    
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_YAW]+stabilization_att_ff_cmd[COMMAND_YAW]),
 12);
+ #else
+   stabilization_cmd[COMMAND_ROLL] =
     
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_ROLL]+stabilization_att_ff_cmd[COMMAND_ROLL]),
 16);
 
   stabilization_cmd[COMMAND_PITCH] =
@@ -153,5 +163,6 @@
 
   stabilization_cmd[COMMAND_YAW] =
     
OFFSET_AND_ROUND((stabilization_att_fb_cmd[COMMAND_YAW]+stabilization_att_ff_cmd[COMMAND_YAW]),
 16);
+ #endif   
 
 }