[paparazzi-commits] [paparazzi/paparazzi] 55c3ad: [rotorcraft] set guidance_v_zd_sp to zero in altit...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 55c3ad045d6de5c61ff8dd8d1453ad6b1aab15bc
      
https://github.com/paparazzi/paparazzi/commit/55c3ad045d6de5c61ff8dd8d1453ad6b1aab15bc
  Author: Felix Ruess <address@hidden>
  Date:   2013-08-06 (Tue, 06 Aug 2013)

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

  Log Message:
  -----------
  [rotorcraft] set guidance_v_zd_sp to zero in altitude hold for visualization


  Commit: 3951bd7f27cfe48cc3e3e0f7d3ade925202b0297
      
https://github.com/paparazzi/paparazzi/commit/3951bd7f27cfe48cc3e3e0f7d3ade925202b0297
  Author: Felix Ruess <address@hidden>
  Date:   2013-08-06 (Tue, 06 Aug 2013)

  Changed paths:
    M sw/airborne/math/pprz_algebra_float.h

  Log Message:
  -----------
  [math] add FLOAT_QUAT_OF_ORIENTATION_VECT


  Commit: 104acd276754eef8850826d00f0dfb6f5fb5bf70
      
https://github.com/paparazzi/paparazzi/commit/104acd276754eef8850826d00f0dfb6f5fb5bf70
  Author: Felix Ruess <address@hidden>
  Date:   2013-08-07 (Wed, 07 Aug 2013)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c

  Log Message:
  -----------
  [rotorcraft][guidance][stabilization] quat setpoint fixes

Don't pretend that the commands from guidance_h are actually real euler angles.
Compose a roll/pitch quaternion from simultaneous rotation of roll/pitch,
then rotate around resulting body z-axis to align the heading.

This should "fix" the setpoint passed to the attitude stabilization if in HOVER 
or NAV
at large angles.
Only tested quickly in simulation...


  Commit: c32ea43ed2a712e5b03c0d814513275d903a4bc0
      
https://github.com/paparazzi/paparazzi/commit/c32ea43ed2a712e5b03c0d814513275d903a4bc0
  Author: Felix Ruess <address@hidden>
  Date:   2013-08-13 (Tue, 13 Aug 2013)

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

  Log Message:
  -----------
  [rotorcraft] guidance_h: normalize psi sp from nav_heading


  Commit: 25609e0c5ac2aec44f261b07cadb49b41fc62934
      
https://github.com/paparazzi/paparazzi/commit/25609e0c5ac2aec44f261b07cadb49b41fc62934
  Author: Felix Ruess <address@hidden>
  Date:   2013-08-20 (Tue, 20 Aug 2013)

  Changed paths:
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c

  Log Message:
  -----------
  [rotorcraft][stabilization] calculate correct yaw from guidance psi setpoint

Instead of using the psi setpoint angle to rotate around the body z-axis,
calculate the real angle needed to align the projection of the body x-axis onto 
the horizontal plane
with the psi setpoint.
Only makes a few degrees of difference at high roll/pitch angles, but should be 
correc now.
still needs to be optimized...


  Commit: 8c8049722faf5514e36df9449f5a38949e7c6226
      
https://github.com/paparazzi/paparazzi/commit/8c8049722faf5514e36df9449f5a38949e7c6226
  Author: Felix Ruess <address@hidden>
  Date:   2013-09-01 (Sun, 01 Sep 2013)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_passthrough.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
    M 
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c
    M sw/airborne/math/pprz_algebra_float.h

  Log Message:
  -----------
  Merge pull request #494 'guidance_h_quat'

Don't pretend that the commands from guidance_h are actually real euler angles.
Compose a roll/pitch quaternion from simultaneous rotation of roll/pitch,
then rotate around resulting body z-axis to align the heading.

This should "fix" the setpoint passed to the attitude stabilization if in HOVER 
or NAV
at large angles and in cases of where heading_sp != current heading.


Compare: 
https://github.com/paparazzi/paparazzi/compare/9489857f01be...8c8049722faf