[paparazzi-commits] [paparazzi/paparazzi] 32ec2b: [conf] pass configured AHRS_x_FREQUENCY on for rot...

[GitHub]

  Branch: refs/heads/ahrs_int_cmpl_quat_correction_scaling
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 32ec2b1b2adb02d82e66ea9039cfe64c2cfa0a04
      
https://github.com/paparazzi/paparazzi/commit/32ec2b1b2adb02d82e66ea9039cfe64c2cfa0a04
  Author: Felix Ruess <address@hidden>
  Date:   2013-02-20 (Wed, 20 Feb 2013)

  Changed paths:
    M conf/firmwares/subsystems/fixedwing/ahrs_float_cmpl_quat.makefile
    M conf/firmwares/subsystems/fixedwing/ahrs_int_cmpl_quat.makefile
    M conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_quat.makefile
    M conf/firmwares/subsystems/rotorcraft/ahrs_float_cmpl_rmat.makefile
    M conf/firmwares/subsystems/rotorcraft/ahrs_int_cmpl_quat.makefile

  Log Message:
  -----------
  [conf] pass configured AHRS_x_FREQUENCY on for rotorcrafts as well


  Commit: 69ce7b80d0a87498f7dcd0b5577f3585d4090872
      
https://github.com/paparazzi/paparazzi/commit/69ce7b80d0a87498f7dcd0b5577f3585d4090872
  Author: Felix Ruess <address@hidden>
  Date:   2013-02-20 (Wed, 20 Feb 2013)

  Changed paths:
    M conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
    M conf/conf.xml.example
    M conf/settings/estimation/ahrs_int_cmpl_quat.xml
    M conf/tests_conf.xml
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.h

  Log Message:
  -----------
  [ahrs] int_cmpl_quat: scale the correction in update_accel with 
AHRS_CORRECT_FREQUENCY
Allow tuning of the rate and bias gains.
Scaling correction by AHRS_CORRECT_FREQUENCY should also give you
roughly correct tuning for 100Hz fixedwings, see #240.


Compare: 
https://github.com/paparazzi/paparazzi/compare/32ec2b1b2adb^...69ce7b80d0a8