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Make vane feedback into setpoint depend on USE_VANE, and use scaling factor from airframe instead of hard coded values

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Allen Ibara
2009-12-10 20:44:12 +00:00
parent e45a7f5870
commit 899e04b2b7
1 changed files with 4 additions and 2 deletions
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sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
+4 -2
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@@ -143,12 +143,13 @@ static void update_ref_quat_from_eulers(void) {
FLOAT_QUAT_OF_RMAT(booz_stab_att_ref_quat, ref_rmat);
}
#ifdef USE_VANE
void booz_stabilization_attitude_read_beta_vane(float beta)
{
struct FloatEulers sticks_eulers;
struct FloatQuat sticks_quat, prev_sp_quat;
sticks_eulers.phi = beta / RC_UPDATE_FREQ;
sticks_eulers.phi = BOOZ_STABILIZATION_ATTITUDE_BETA_VANE_T * beta / RC_UPDATE_FREQ;
sticks_eulers.theta = 0;
sticks_eulers.psi = 0;
@@ -165,7 +166,7 @@ void booz_stabilization_attitude_read_alpha_vane(float alpha)
struct FloatEulers sticks_eulers;
struct FloatQuat sticks_quat, prev_sp_quat;
sticks_eulers.phi = 0;
sticks_eulers.theta = alpha / RC_UPDATE_FREQ;
sticks_eulers.theta = BOOZ_STABILIZATION_ATTITUDE_ALPHA_VANE_T * alpha / RC_UPDATE_FREQ;
sticks_eulers.psi = 0;
// convert eulers to quaternion
@@ -175,6 +176,7 @@ void booz_stabilization_attitude_read_alpha_vane(float alpha)
// rotate previous setpoint by commanded rotation
FLOAT_QUAT_COMP(booz_stab_att_sp_quat, prev_sp_quat, sticks_quat);
}
#endif
void booz_stabilization_attitude_read_rc(bool_t in_flight) {