[paparazzi-commits] [paparazzi/paparazzi] 53b8a7: added the possibility to add a yaw rate limit to s...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 53b8a78500a68d0a0619b2de6ec0b583d5cbe340
      
https://github.com/paparazzi/paparazzi/commit/53b8a78500a68d0a0619b2de6ec0b583d5cbe340
  Author: Ewoud Smeur <address@hidden>
  Date:   2016-05-30 (Mon, 30 May 2016)

  Changed paths:
    M conf/airframes/TUDELFT/tudelft_bebop_indi.xml
    M conf/settings/control/stabilization_indi.xml
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h

  Log Message:
  -----------
  added the possibility to add a yaw rate limit to stabilization indi (#1684)

the yaw of a typical quadrotor easily saturates. One of the problems that occur 
when asking for a large change in yaw angle, is that the quadrotor can build up 
so much angular velocity in the yaw axis, that it can not physically slow down 
before reaching the yaw setpoint due to saturating. This will result in 
overshoot.

This can be helped by adding a yaw rate limit, which this PR does for the INDI 
controller.