[paparazzi-commits] [paparazzi/paparazzi] 554585: [ahrs] int_cmpl_quat: scale the correction in upda...

[GitHub]

  Branch: refs/heads/ahrs_int_cmpl_quat_correction_scaling
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 5545851d20e4c91195db2edec7c7356bb29ace27
      
https://github.com/paparazzi/paparazzi/commit/5545851d20e4c91195db2edec7c7356bb29ace27
  Author: Felix Ruess <address@hidden>
  Date:   2013-03-05 (Tue, 05 Mar 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.


  Commit: 3ebef3b50bf4f7208483120a3f4ef22dfdb463a7
      
https://github.com/paparazzi/paparazzi/commit/3ebef3b50bf4f7208483120a3f4ef22dfdb463a7
  Author: Felix Ruess <address@hidden>
  Date:   2013-03-05 (Tue, 05 Mar 2013)

  Changed paths:
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c

  Log Message:
  -----------
  [ahrs] int_cmpl_quat: lower correction from accel update
double gain scale to allow for a nicer range of the gains


  Commit: fa8c283d63282e597180bfc3446663eeeeeb20ee
      
https://github.com/paparazzi/paparazzi/commit/fa8c283d63282e597180bfc3446663eeeeeb20ee
  Author: Felix Ruess <address@hidden>
  Date:   2013-03-05 (Tue, 05 Mar 2013)

  Changed paths:
    M conf/settings/estimation/ahrs_int_cmpl_quat.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: some more adjustable correction gains
not tested in flight yet...


  Commit: 3375ffe4a9c9b12ab7efc795fa11dd21c926d339
      
https://github.com/paparazzi/paparazzi/commit/3375ffe4a9c9b12ab7efc795fa11dd21c926d339
  Author: Felix Ruess <address@hidden>
  Date:   2013-03-05 (Tue, 05 Mar 2013)

  Changed paths:
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c

  Log Message:
  -----------
  [ahrs] int_cmpl_quat: use signed integers for correction scaling
beware of the usual arithmetic conversions!!


Compare: 
https://github.com/paparazzi/paparazzi/compare/d764b73d3ade...3375ffe4a9c9