[paparazzi-commits] [paparazzi/paparazzi] 6b6b32: rotorcraft guidance_h: set the same gain multiplie...

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  Branch: refs/heads/guidance_hover
  Home:   https://github.com/paparazzi/paparazzi

  Commit: 6b6b32a715bf5847c267e71daf267185eaa27fce
      
https://github.com/paparazzi/paparazzi/commit/6b6b32a715bf5847c267e71daf267185eaa27fce
  Author: Felix Ruess <address@hidden>
  Date:   2011-11-03 (Thu, 03 Nov 2011)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c

  Log Message:
  -----------
  rotorcraft guidance_h: set the same gain multipliers in hover as in nav.
With this the hover (stay) behaviour should be the same in AP_HOVER and in nav 
(without using the ref).
This means that if you tuned the p-gain and i-gain in AP_MODE_HOVER_x before,
you will have to divide the old p-gain by 2 and the old i-gain by 4.


  Commit: c8572b24815269fb23d5b9bf0e3101be0a986cc6
      
https://github.com/paparazzi/paparazzi/commit/c8572b24815269fb23d5b9bf0e3101be0a986cc6
  Author: Felix Ruess <address@hidden>
  Date:   2011-11-03 (Thu, 03 Nov 2011)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c

  Log Message:
  -----------
  reset guidance_h_nav_err to zero if within HOLD_DISTANCE


Compare: https://github.com/paparazzi/paparazzi/compare/6b6b32a^...c8572b2