[paparazzi-commits] [paparazzi/paparazzi] fd3619: [rotorcraft] from Ewoud: change feedback gain scal...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: fd36199f342cdb35ecb3a62844422f35f126c36d
      
https://github.com/paparazzi/paparazzi/commit/fd36199f342cdb35ecb3a62844422f35f126c36d
  Author: Felix Ruess <address@hidden>
  Date:   2013-02-07 (Thu, 07 Feb 2013)

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

  Log Message:
  -----------
  [rotorcraft] from Ewoud: change feedback gain scale in vertical control for 
better resolution
The bit shifts are reduced by 5 (increasing the gain by factor 32), 
GUIDANCE_V_GAIN_SCALER (48) removed
So to get the same gains as before, multiply them by 1.5

Maybe also adjust the GUIDANCE_V_MAX_SUM_ERR, which should really have a 
sensible default anyway!!!!
On the other hand the max sum error was not adjusted in any airframe file when 
the GAIN_SCALER was added by Bart 2012-04-03.
So now it's nearly back to the same level as we had then, which was probably 
good?