Re: [Paparazzi-devel] 4.0 release preparation

[Felix Ruess]

Hi Antoine,

>> - subsystems for new ahrs estimation algorithms: float_cmpl_rmat
>
> why use the floating point version when there exist a fixed point
> version (ahrs_int_cmpl.c)? I wrote the floating point version only to
> serve as a reference for the fixed point version.

I just though since the code is there we should be able to use it (if
only for comparison purposes)....

> also the float version should probably be renamed to match the fixed
> point version (ahrs_float_cmpl.c) as it can use either rotation
> matrices (AHRS_PROPAGATE_RMAT) or quaternions (AHRS_PROPAGATE_QUAT)

good point, maybe we should also rename ahrs_int_cmpl.* files to
ahrs_int_cmpl_quat (the subsystem for this is already called
int_cmpl_quat)

Cheers, Felix