Re: [Paparazzi-devel] Stabilization subsystems

[Felix Ruess]

int_quat is better written and a lot faster than float_dcm.

You can use the mag with int_quat, but heading via gps hasn't been tested in flight (afaik).

See http://paparazzi.enac.fr/wiki/Subsystem/ahrs

On Wednesday, June 27, 2012, Eduardo lavratti wrote:

Well ...

felix, what subsystem you recomend for fixed wing ?
i am using float_dcm but everytime the plane stall and spin the attitude stay crazy after i recover the plane .

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Date: Tue, 26 Jun 2012 22:01:19 +0200

From: address@hidden
To: address@hidden
Subject: Re: [Paparazzi-devel] Stabilization subsystems

Euler is easier to understand and works fine if you are close to hover (so autonomous nav without acrobatics, etc..)

There are still some open issues with the quaternion controller, but they are only visible on a hovering quadshot and the like:

https://github.com/paparazzi/paparazzi/issues/160

https://github.com/paparazzi/paparazzi/issues/161

On Tue, Jun 26, 2012 at 6:48 PM, Simon Wilks <address@hidden> wrote:

Great! Thanks :)

I guess the recommended subsystem to use is int_quat? Would there be any circumstances where euler would be preferred?

Thanks

Simon 

On Tue, Jun 26, 2012 at 2:23 PM, Felix Ruess <address@hidden> wrote:

Hi Simon,

I added some information on the stabilization subsystem under http://paparazzi.enac.fr/wiki/Subsystem/stabilization

If you have some more specific questions feel free to ask...

Cheers, Felix

On Sun, Jun 24, 2012 at 8:39 AM, Simon Wilks <address@hidden> wrote:

Hi,

I am trying to find some info explaining the different types of stabilization subsystems available.

My main interest here is for rotorcraft. I have been using euler so far but have seen some airframe configs, in particular one of the example files, using int_quat.

Thanks

Simon

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