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[rotorcraft] quat_float: rename x_sum_err_eulers to x_sum_err

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This commit is contained in:
Felix Ruess
2013-10-23 11:59:09 +02:00
parent 5cf0b28d46
commit cd834bce01
1 changed files with 5 additions and 5 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
+5 -5
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@@ -36,7 +36,7 @@
struct FloatAttitudeGains stabilization_gains[STABILIZATION_ATTITUDE_GAIN_NB]; struct FloatAttitudeGains stabilization_gains[STABILIZATION_ATTITUDE_GAIN_NB];
struct FloatQuat stabilization_att_sum_err_quat; struct FloatQuat stabilization_att_sum_err_quat;
struct FloatEulers stabilization_att_sum_err_eulers; struct FloatEulers stabilization_att_sum_err;
struct FloatRates last_body_rate; struct FloatRates last_body_rate;
@@ -109,7 +109,7 @@ void stabilization_attitude_init(void) {
} }
FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat ); FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat );
FLOAT_EULERS_ZERO( stabilization_att_sum_err_eulers ); FLOAT_EULERS_ZERO( stabilization_att_sum_err );
FLOAT_RATES_ZERO( last_body_rate ); FLOAT_RATES_ZERO( last_body_rate );
} }
@@ -131,7 +131,7 @@ void stabilization_attitude_enter(void) {
stabilization_attitude_ref_enter(); stabilization_attitude_ref_enter();
FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat ); FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat );
FLOAT_EULERS_ZERO( stabilization_att_sum_err_eulers ); FLOAT_EULERS_ZERO( stabilization_att_sum_err );
} }
void stabilization_attitude_set_failsafe_setpoint(void) { void stabilization_attitude_set_failsafe_setpoint(void) {
@@ -264,11 +264,11 @@ void stabilization_attitude_run(bool_t enable_integrator) {
FLOAT_QUAT_COMP(new_sum_err, stabilization_att_sum_err_quat, scaled_att_err); FLOAT_QUAT_COMP(new_sum_err, stabilization_att_sum_err_quat, scaled_att_err);
FLOAT_QUAT_NORMALIZE(new_sum_err); FLOAT_QUAT_NORMALIZE(new_sum_err);
FLOAT_QUAT_COPY(stabilization_att_sum_err_quat, new_sum_err); FLOAT_QUAT_COPY(stabilization_att_sum_err_quat, new_sum_err);
FLOAT_EULERS_OF_QUAT(stabilization_att_sum_err_eulers, stabilization_att_sum_err_quat); FLOAT_EULERS_OF_QUAT(stabilization_att_sum_err, stabilization_att_sum_err_quat);
} else { } else {
/* reset accumulator */ /* reset accumulator */
FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat ); FLOAT_QUAT_ZERO( stabilization_att_sum_err_quat );
FLOAT_EULERS_ZERO( stabilization_att_sum_err_eulers ); FLOAT_EULERS_ZERO( stabilization_att_sum_err );
} }
attitude_run_ff(stabilization_att_ff_cmd, &stabilization_gains[gain_idx], &stab_att_ref_accel); attitude_run_ff(stabilization_att_ff_cmd, &stabilization_gains[gain_idx], &stab_att_ref_accel);