Re: [Paparazzi-devel] Stabilization (int_quat)

[antoine drouin]

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?

this only concerns the reference attitude - it is not influenced by the integrators