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Re: [Paparazzi-devel] Understanding the algorithms behind the Quadshot

From: notoriou5
Subject: Re: [Paparazzi-devel] Understanding the algorithms behind the Quadshot
Date: Sat, 13 Feb 2016 12:26:44 -0700 (MST)

Hello again, 

sorry for re-posting in my own thread again today, but I found something
which could help me move forward. 

After following the AP_MODE_FORWARD (I am pretty sure now that this is the
transition) I came to the following function
(sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c), line 585ff:

static inline void transition_run(void)
  //Add 0.00625%
  transition_percentage += 1 << (INT32_PERCENTAGE_FRAC - 4);

  const int32_t max_offset = ANGLE_BFP_OF_REAL(TRANSITION_MAX_OFFSET);
  transition_theta_offset = INT_MULT_RSHIFT((transition_percentage <<
                            max_offset, INT32_ANGLE_FRAC);

It seems like this function is called if the AP_MODE_FORWARD is activated.
But this little function can not be enough for the whole case of transition.
Where is the rest of the code (giving engine control and such things), or am
I missing something?

Thanks for your help,


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