[paparazzi-commits] [paparazzi/paparazzi] 3d3adb: [guidance_v] pass only vertical thrust component t...

[GitHub]

  Branch: refs/heads/gv_adapt_vertical_thrust
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 3d3adb7281af3e1d7ddf0801b703a7b26ea3a476
      
https://github.com/paparazzi/paparazzi/commit/3d3adb7281af3e1d7ddf0801b703a7b26ea3a476
  Author: Felix Ruess <address@hidden>
  Date:   2013-09-03 (Tue, 03 Sep 2013)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.h
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adapt.c

  Log Message:
  -----------
  [guidance_v] pass only vertical thrust component to gv_adapt_run

Improve issue #527.
Get an estimate of the ctually applied thrust in the direction of the gravity 
vector instead of total thrust
to pass to the adaptive nominal thrust estimation.

Still should be improved by using the actual thrust after saturation/mixing...