[paparazzi-commits] [paparazzi/paparazzi] 68d07e: [rotorcraft] horizontal guidance fixedpoint fixes

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 68d07e6128eb61bffa1278fd51c5c69c1e3ffc8a
      
https://github.com/paparazzi/paparazzi/commit/68d07e6128eb61bffa1278fd51c5c69c1e3ffc8a
  Author: Felix Ruess <address@hidden>
  Date:   2013-03-25 (Mon, 25 Mar 2013)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h.h
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_h_ref.h
    M sw/airborne/firmwares/rotorcraft/navigation.c

  Log Message:
  -----------
  [rotorcraft] horizontal guidance fixedpoint fixes

Significantly reduce the quantization error of the horizontal guidance cmds.
This should result in nicer position hold and better trajectory tracking.
Verified in NPS sim.