[paparazzi-commits] [4372] Make vane feedback into setpoint depend on USE_VANE, and use scaling factor from airframe instead of hard coded values

[Allen Ibara]

Revision: 4372
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4372
Author:   aibara
Date:     2009-12-10 20:44:12 +0000 (Thu, 10 Dec 2009)
Log Message:
-----------
Make vane feedback into setpoint depend on USE_VANE, and use scaling factor 
from airframe instead of hard coded values

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
    2009-12-10 20:43:08 UTC (rev 4371)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
    2009-12-10 20:44:12 UTC (rev 4372)
@@ -143,12 +143,13 @@
     FLOAT_QUAT_OF_RMAT(booz_stab_att_ref_quat, ref_rmat);
 }
 
+#ifdef USE_VANE
 void booz_stabilization_attitude_read_beta_vane(float beta)
 {
   struct FloatEulers sticks_eulers;
   struct FloatQuat sticks_quat, prev_sp_quat;
 
-  sticks_eulers.phi = beta / RC_UPDATE_FREQ;
+  sticks_eulers.phi = BOOZ_STABILIZATION_ATTITUDE_BETA_VANE_T * beta / 
RC_UPDATE_FREQ;
   sticks_eulers.theta = 0;
   sticks_eulers.psi = 0;
 
@@ -165,7 +166,7 @@
   struct FloatEulers sticks_eulers;
   struct FloatQuat sticks_quat, prev_sp_quat;
   sticks_eulers.phi = 0;
-  sticks_eulers.theta = alpha / RC_UPDATE_FREQ;
+  sticks_eulers.theta = BOOZ_STABILIZATION_ATTITUDE_ALPHA_VANE_T * alpha / 
RC_UPDATE_FREQ;
   sticks_eulers.psi = 0;
 
   // convert eulers to quaternion
@@ -175,6 +176,7 @@
   // rotate previous setpoint by commanded rotation
   FLOAT_QUAT_COMP(booz_stab_att_sp_quat, prev_sp_quat, sticks_quat);
 }
+#endif
 
 void booz_stabilization_attitude_read_rc(bool_t in_flight) {