Re: [Paparazzi-devel] Hidden bug

[Felix Ruess]

Thanks Antoine!

Fixed...

About pre-computing 2*xi*omega and omega^2: didn't do that in init, because these values can be changed via settings.... it could be moved to a settings handler though, so it's recomputed if the setting is changed.

Cheers, Felix

On Tue, Feb 4, 2014 at 10:39 PM, antoine drouin <address@hidden> wrote:

additionally, computing 2.xi.omega and omega^2 (line 140 to 145) could probably be done at initialization rather than at every update step. Maybe also more clearly written as vector operations.

On Tue, Feb 4, 2014 at 10:18 PM, antoine drouin <address@hidden> wrote:

in

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_ref_quat_float.c#L123

  - FLOAT_QUAT_COMP(new_ref_quat, delta_q, stab_att_ref_quat);

  +FLOAT_QUAT_COMP(new_ref_quat, stab_att_ref_quat, delta_q);

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