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[paparazzi-commits] [paparazzi/paparazzi] d29c83: remove scaling from ra

From: GitHub
Subject: [paparazzi-commits] [paparazzi/paparazzi] d29c83: remove scaling from rate feedback (#1601)
Date: Wed, 20 Apr 2016 08:36:14 -0700

  Branch: refs/heads/master
  Commit: d29c83aab90373454986f403ea77113486dd0853
  Author: Ewoud Smeur <address@hidden>
  Date:   2016-04-20 (Wed, 20 Apr 2016)

  Changed paths:
    M conf/airframes/TUDELFT/tudelft_course2016_bebop_avoider.xml
    M conf/airframes/TUDELFT/tudelft_heli450.xml
    M conf/airframes/examples/course_bebop_colorfilter.xml
    M conf/airframes/examples/quadrotor_lisa_mx.xml
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c

  Log Message:
  remove scaling from rate feedback (#1601)

Currently gains from rate control do not carry over to attitude stabilization, 
because there is a factor 2 in the rate control and prescaler values (factor 3 
for rate) in the attitude control. I searched through the airframes, and there 
are not many that use rate control. I doubled all the gains and removed rate 
control for bebop, as rate control over datalink is very difficult due to lag.

The prescaler values should also be default 1 for stabilization quat_int, as 
they already are for float_quat. However, this will mean updating a large 
amount of airframes, which will require some scripting. I might have time for 
this later.

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