Hello everyone,
i am planning to use 'int_quat' as my stabilization subsystem. But i saw the saturations for the 'stab_att_ref_accel'
/* saturate acceleration */
//const struct Int32Rates MIN_ACCEL = { -REF_ACCEL_MAX_P, -REF_ACCEL_MAX_Q, -REF_ACCEL_MAX_R };
//const struct Int32Rates MAX_ACCEL = { REF_ACCEL_MAX_P, REF_ACCEL_MAX_Q, REF_ACCEL_MAX_R };
//RATES_BOUND_BOX(stab_att_ref_accel, MIN_ACCEL, MAX_ACCEL);
is commented out; and there is no saturation for the 'stab_att_ref_rate'
'SATURATE_SPEED_TRIM_ACCEL' macro is not called from the source, but it is called in 'euler_int' and 'euler_float' subsystems.
I am not sure about this, what if the integrative terms gets so huge to handle?
On the other hand, it has been mentioned that there are some open issues with the quaternion controller at the 'Stabilization subsystems' topic(160 and 161 issues) , do you have any advice which stab. subsystem i prefer to use? Thanks in advance..
Frame : Quad
Board : LisaM v2.0
Paparazzi : v5.0.3
Kadir