[paparazzi-commits] [4241] Use mix pitch into beta yaw feedback (ignore beta when hovering)

[Allen Ibara]

Revision: 4241
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4241
Author:   aibara
Date:     2009-10-08 22:54:04 +0000 (Thu, 08 Oct 2009)
Log Message:
-----------
Use mix pitch into beta yaw feedback (ignore beta when hovering)

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

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
    2009-10-08 22:51:41 UTC (rev 4240)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
    2009-10-08 22:54:04 UTC (rev 4241)
@@ -95,7 +95,7 @@
 
 void booz_stabilization_attitude_read_beta_vane(float beta)
 {
-  booz_stab_att_sp_euler.psi += beta / RC_UPDATE_FREQ;
+  booz_stab_att_sp_euler.psi += booz_ahrs_float.ltp_to_body_euler.theta * beta 
/ RC_UPDATE_FREQ;
   update_sp_quat_from_eulers();
 }