Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-07 09:36:19 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

rotorcraft guidance: if quaternion stabilization is used, compute quat setpoint from eulers in hover and attitude nav as well

Browse Source
This commit is contained in:
Felix Ruess
2012-03-25 17:23:51 +02:00
parent 4bb7e7c246
commit 8a95ddd256
1 changed files with 6 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+6
View File
@@ -204,6 +204,9 @@ void guidance_h_run(bool_t in_flight) {
#ifndef STABILISATION_ATTITUDE_TYPE_FLOAT
stab_att_sp_euler.phi = nav_roll << (REF_ANGLE_FRAC - INT32_ANGLE_FRAC);
stab_att_sp_euler.theta = nav_pitch << (REF_ANGLE_FRAC - INT32_ANGLE_FRAC);
#ifdef STABILISATION_ATTITUDE_TYPE_QUAT
INT32_QUAT_OF_EULERS(stab_att_sp_quat, stab_att_sp_euler);
#endif
#endif
}
else {
@@ -289,6 +292,9 @@ __attribute__ ((always_inline)) static inline void guidance_h_hover_run(void) {
#endif /* STABILISATION_ATTITUDE_TYPE_FLOAT */
EULERS_COPY(stab_att_sp_euler, guidance_h_command_body);
#ifdef STABILISATION_ATTITUDE_TYPE_QUAT
INT32_QUAT_OF_EULERS(stab_att_sp_quat, stab_att_sp_euler);
#endif
}