[paparazzi-commits] [4378] Use separate coef for setpoint yaw rate when in "rates mode" ( for forward flight)

[Allen Ibara]

Revision: 4378
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4378
Author:   aibara
Date:     2009-12-21 18:45:38 +0000 (Mon, 21 Dec 2009)
Log Message:
-----------
Use separate coef for setpoint yaw rate when in "rates mode" (for forward 
flight)

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

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
    2009-12-18 15:47:31 UTC (rev 4377)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
    2009-12-21 18:45:38 UTC (rev 4378)
@@ -193,7 +193,7 @@
     // convert sticks to commanded rates
     sticks_eulers.phi = APPLY_DEADBAND(roll, 
BOOZ_STABILIZATION_ATTITUDE_DEADBAND_A) * ROLL_COEF_RATE / RC_UPDATE_FREQ;
     sticks_eulers.theta = APPLY_DEADBAND(pitch, 
BOOZ_STABILIZATION_ATTITUDE_DEADBAND_E) * PITCH_COEF_RATE / RC_UPDATE_FREQ;
-    sticks_eulers.psi = APPLY_DEADBAND(yaw, 
BOOZ_STABILIZATION_ATTITUDE_DEADBAND_R) * YAW_COEF / RC_UPDATE_FREQ;
+    sticks_eulers.psi = APPLY_DEADBAND(yaw, 
BOOZ_STABILIZATION_ATTITUDE_DEADBAND_R) * YAW_COEF_H / RC_UPDATE_FREQ;
 
     // convert eulers to quaternion
     FLOAT_QUAT_OF_EULERS(sticks_quat, sticks_eulers);

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.h
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.h
        2009-12-18 15:47:31 UTC (rev 4377)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.h
        2009-12-21 18:45:38 UTC (rev 4378)
@@ -34,6 +34,7 @@
 #define ROLL_COEF  (-BOOZ_STABILIZATION_ATTITUDE_SP_MAX_PHI   / MAX_PPRZ)
 #define PITCH_COEF ( BOOZ_STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ)
 #define YAW_COEF   (-BOOZ_STABILIZATION_ATTITUDE_SP_MAX_R     / MAX_PPRZ)
+#define YAW_COEF_H  (-BOOZ_STABILIZATION_ATTITUDE_SP_MAX_H_R     / MAX_PPRZ)
 
 #define ROLL_COEF_RATE  (-BOOZ_STABILIZATION_ATTITUDE_SP_MAX_P   / MAX_PPRZ)
 #define PITCH_COEF_RATE ( BOOZ_STABILIZATION_ATTITUDE_SP_MAX_Q / MAX_PPRZ)