[paparazzi-commits] [4205] Allow booz stabilization attitude_ref_quat_float to support frequencies/ DT other than 512hz

[Allen Ibara]

Revision: 4205
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4205
Author:   aibara
Date:     2009-09-29 02:02:59 +0000 (Tue, 29 Sep 2009)
Log Message:
-----------
Allow booz stabilization attitude_ref_quat_float to support frequencies/DT 
other than 512hz

Modified Paths:
--------------
    
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
        2009-09-29 01:03:18 UTC (rev 4204)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
        2009-09-29 02:02:59 UTC (rev 4205)
@@ -46,7 +46,11 @@
 /*
  * Reference
  */
+#ifdef BOOZ_AP_PERIODIC_PRESCALE
+#define DT_UPDATE ((1./PERIODIC_FREQ)/BOOZ_AP_PERIODIC_PRESCALE)
+#else
 #define DT_UPDATE (1./512.)
+#endif
 
 #define OMEGA_P   BOOZ_STABILIZATION_ATTITUDE_REF_OMEGA_P
 #define ZETA_P    BOOZ_STABILIZATION_ATTITUDE_REF_ZETA_P