Re: [Paparazzi-devel] Hidden bug

[antoine drouin]

additionally, computing 2.xi.omega and omega^2 (line 140 to 145) could probably be done at initialization rather than at every update step. Maybe also more clearly written as vector operations.

On Tue, Feb 4, 2014 at 10:18 PM, antoine drouin <address@hidden> wrote:

in

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c#L123

  - FLOAT_QUAT_COMP(new_ref_quat, delta_q, stab_att_ref_quat);

  +FLOAT_QUAT_COMP(new_ref_quat, stab_att_ref_quat, delta_q);