[Paparazzi-devel] dev branch: change of rotorcraft commands range and some rotorcraft guidance fixes

[Felix Ruess]

Hi,

I merged pull request 169 into the dev branch, which means that you will have to re-tune your control gains if you are using the rotorcraft firmware.

This was necessary in order to properly support all kinds of actuators with different ranges without having to resort to hacks and having to set different gains for different actuators.

Now PWM actuators should also work nicely regardless of what stop/min/max values the controllers expect and adaptive hover should be fixed with that as well.

If you are using pwm_supervision actuators, you also need to configure the value to send to the controllers to stop the motors (before that was fixed to 1000us, but that doesn't fit for every controller):

Rotorcraft_Configuration#Supervision

Also with merge of attitude_ref_frac

• cleaned up rotorcraft stabilization and guidance
• removed not properly functioning nav tracking algorithm
• same guidance loop for hover and nav (except that nav uses a reference)
• horizontal guidance (hover, nav) should now be running properly for quaternion stabilization as well

If you have comments, questions or a setup to test this, feedback is always welcome :-)

Cheers, Felix