Re: [Paparazzi-devel] Stabilization (int_quat)

[Felix Ruess]

Also please note that there have been some fixes in master regarding the scaling of the int_quat reference model (and the reference saturation has been added there as well).

See commits 8bce6d4 and 2061fed

So I would suggest to update to master... (hopefully we can release a new stable version soon-ish).

On Mon, Jan 6, 2014 at 6:09 PM, antoine drouin <address@hidden> wrote:

i am planning to use 'int_quat' as my stabilization subsystem. But i saw the saturations for the 'stab_att_ref_accel' 

  /* saturate acceleration */

  //const struct Int32Rates MIN_ACCEL = { -REF_ACCEL_MAX_P, -REF_ACCEL_MAX_Q, -REF_ACCEL_MAX_R };

  //const struct Int32Rates MAX_ACCEL = {  REF_ACCEL_MAX_P,  REF_ACCEL_MAX_Q,  REF_ACCEL_MAX_R };

  //RATES_BOUND_BOX(stab_att_ref_accel, MIN_ACCEL, MAX_ACCEL);

is commented out;  and there is no saturation for the  'stab_att_ref_rate' 

'SATURATE_SPEED_TRIM_ACCEL' macro is not called from the source, but it is called in 'euler_int' and 'euler_float' subsystems. 

I am not sure about this, what if the integrative terms gets so huge to handle?

this only concerns the reference attitude - it is not influenced by the integrators

 

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