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change scaling of feedforward gains in rate mode, gains effectively four times higher now

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Felix Ruess
2010-09-24 14:10:41 +00:00
parent 6bef819be9
commit 7749ca640e
1 changed files with 1 additions and 1 deletions
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sw/airborne/booz/stabilization/booz_stabilization_rate.c
+1 -1
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@@ -156,7 +156,7 @@ void booz_stabilization_rate_run(bool_t in_flight) {
RATES_ADD(booz_stabilization_rate_ref, _delta_ref);
/* compute feed-forward command */
RATES_EWMULT_RSHIFT(booz_stabilization_rate_ff_cmd, booz_stabilization_rate_ddgain, booz_stabilization_rate_refdot, 16);
RATES_EWMULT_RSHIFT(booz_stabilization_rate_ff_cmd, booz_stabilization_rate_ddgain, booz_stabilization_rate_refdot, 14);
/* compute feed-back command */