[paparazzi-commits] [paparazzi/paparazzi] f86544: [ahrs] main speed component is in wing direction (...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: f865443b0d9f256b8ef775c95d9b68558d32bed7
      
https://github.com/paparazzi/paparazzi/commit/f865443b0d9f256b8ef775c95d9b68558d32bed7
  Author: Christophe De Wagter <address@hidden>
  Date:   2016-10-28 (Fri, 28 Oct 2016)

  Changed paths:
    M conf/modules/ahrs_float_cmpl_quat.xml
    M conf/modules/ahrs_float_cmpl_rmat.xml
    M conf/modules/ahrs_int_cmpl_quat.xml
    M sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
    M sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c

  Log Message:
  -----------
  [ahrs] main speed component is in wing direction (#1881)

ahrs_x_cmpl: add AHRS_GPS_SPEED_IN_NEGATIVE_Z_DIRECTION

AHRS_GRAVITY_UPDATE_COORDINATED_TURN assumes the GPS speed is in the X axis 
direction. Quadshot, DelftaCopter and other hybrids can have the GPS speed in 
the negative Z direction