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From: | antoine drouin |
Subject: | Re: [Paparazzi-devel] Stabilization (int_quat) |
Date: | Mon, 6 Jan 2014 18:09:24 +0100 |
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?
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