[paparazzi-commits] [paparazzi/paparazzi] 45ff6d: [rotorcraft] guidance_h MAX_BANK

[GitHub]

  Branch: refs/heads/guidance_h_max_bank
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 45ff6dbc1167b4f0d35d66d0bd3b25ec18dc4434
      
https://github.com/paparazzi/paparazzi/commit/45ff6dbc1167b4f0d35d66d0bd3b25ec18dc4434
  Author: Christophe De Wagter <address@hidden>
  Date:   2013-09-26 (Thu, 26 Sep 2013)

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

  Log Message:
  -----------
  [rotorcraft] guidance_h MAX_BANK

In case of wind, the -20 to 20 max bank should become -40 deg in the wind 
direction and +0 in
the opposite direction. The i-gain should be sufficiently SLOW but with HIGH 
authority.
This commit suggests to split the max-bank from PD an I with separate 
saturation and have the
I-gain before the integrator so better insight is gained in its authority.


  Commit: cad1ca2ad271c3d21feb5f171c7504003b51a3c1
      
https://github.com/paparazzi/paparazzi/commit/cad1ca2ad271c3d21feb5f171c7504003b51a3c1
  Author: Christophe De Wagter <address@hidden>
  Date:   2013-09-26 (Thu, 26 Sep 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/telemetry.h

  Log Message:
  -----------
  [rotorcraft] guidance_h: Rename sum err for clarity


  Commit: 8a3b8b4991a928510d9941d7d6eb85ed9e529789
      
https://github.com/paparazzi/paparazzi/commit/8a3b8b4991a928510d9941d7d6eb85ed9e529789
  Author: Christophe De Wagter <address@hidden>
  Date:   2013-09-26 (Thu, 26 Sep 2013)

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

  Log Message:
  -----------
  [rotorcraft] guidance_h: Updated integrator dynamics

Integrate twice as fast when not only POS but also SPEED are wrong,
but do not integrate POS errors when the SPEED is already catching up.


  Commit: de12d2f4bbd0153cf575a41e696a672e99049cf3
      
https://github.com/paparazzi/paparazzi/commit/de12d2f4bbd0153cf575a41e696a672e99049cf3
  Author: Felix Ruess <address@hidden>
  Date:   2013-09-26 (Thu, 26 Sep 2013)

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

  Log Message:
  -----------
  [rotorcraft] guidance_h total_max_bank


Compare: 
https://github.com/paparazzi/paparazzi/compare/45ff6dbc1167^...de12d2f4bbd0