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Fix INDI rpy setpoint function

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The function quat_from_rpy_cmd_i does not seem to act as desired.
The quat_int controller uses simple conversion from eulers, which works
intuitively on a test case, so this one is preferred.
This commit is contained in:
Ewoud Smeur
2017-07-27 13:25:28 +02:00
parent b8dbb0dd59
commit 17d300c3db
2 changed files with 3 additions and 3 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+2 -2
View File
@@ -306,9 +306,9 @@ void stabilization_indi_set_failsafe_setpoint(void)
void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy)
{
// stab_att_sp_euler.psi still used in ref..
memcpy(&stab_att_sp_euler, rpy, sizeof(struct Int32Eulers));
stab_att_sp_euler = *rpy;
quat_from_rpy_cmd_i(&stab_att_sp_quat, &stab_att_sp_euler);
int32_quat_of_eulers(&stab_att_sp_quat, &stab_att_sp_euler);
}
/**
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
+1 -1
View File
@@ -196,7 +196,7 @@ void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy)
// stab_att_sp_euler.psi still used in ref..
stab_att_sp_euler = *rpy;
quat_from_rpy_cmd_i(&stab_att_sp_quat, &stab_att_sp_euler);
int32_quat_of_eulers(&stab_att_sp_quat, &stab_att_sp_euler);
}
/**