[paparazzi-commits] [4302] Make ref_quat_float reference attitude genera

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[paparazzi-commits] [4302] Make ref_quat_float reference attitude genera

From:	Allen Ibara
Subject:	[paparazzi-commits] [4302] Make ref_quat_float reference attitude generation not depend on in_flight mode again
Date:	Fri, 30 Oct 2009 19:08:42 +0000

Revision: 4302
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4302
Author:   aibara
Date:     2009-10-30 19:08:41 +0000 (Fri, 30 Oct 2009)
Log Message:
-----------
Make ref_quat_float reference attitude generation not depend on in_flight mode 
again

Modified Paths:
--------------
    
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude.h
    
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_float.c
    
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_int.c
    
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
    
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_float.c
    
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_int.c
    
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude.h
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude.h   
    2009-10-29 23:23:37 UTC (rev 4301)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude.h   
    2009-10-30 19:08:41 UTC (rev 4302)
@@ -35,7 +35,7 @@
 #include "stabilization/booz_stabilization_attitude_ref.h"
 #include STABILISATION_ATTITUDE_REF_H
 extern void booz_stabilization_attitude_ref_init(void);
-extern void booz_stabilization_attitude_ref_update(bool_t in_flight);
+extern void booz_stabilization_attitude_ref_update(void);
 
 
 #define booz_stabilization_attitude_SetKiPhi(_val) {   \

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_float.c
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_float.c
   2009-10-29 23:23:37 UTC (rev 4301)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_float.c
   2009-10-30 19:08:41 UTC (rev 4302)
@@ -88,7 +88,7 @@
 
 void booz_stabilization_attitude_run(bool_t  in_flight) {
 
-  booz_stabilization_attitude_ref_update(in_flight);
+  booz_stabilization_attitude_ref_update();
 
   /* Compute feedforward */
   booz_stabilization_att_ff_cmd[COMMAND_ROLL] = 

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_int.c
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_int.c
     2009-10-29 23:23:37 UTC (rev 4301)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_euler_int.c
     2009-10-30 19:08:41 UTC (rev 4302)
@@ -93,7 +93,7 @@
 
 
   /* update reference */
-  booz_stabilization_attitude_ref_update(in_flight);
+  booz_stabilization_attitude_ref_update();
 
   /* compute feedforward command */
   booz_stabilization_att_ff_cmd[COMMAND_ROLL] = 

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
    2009-10-29 23:23:37 UTC (rev 4301)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
    2009-10-30 19:08:41 UTC (rev 4302)
@@ -74,6 +74,7 @@
 static void reset_psi_ref_from_body(void) {
     booz_stab_att_sp_euler.psi = booz_ahrs_float.ltp_to_body_euler.psi;
     booz_stab_att_ref_euler.psi = booz_ahrs_float.ltp_to_body_euler.psi;
+    booz_stab_att_ref_rate.r = 0;
     booz_stab_att_ref_accel.r = 0;
 }
 
@@ -136,7 +137,7 @@
       reset_psi_ref_from_body();
       update_sp_quat_from_eulers();
       update_ref_quat_from_eulers();
-      booz_stab_att_ref_rate.r = 8 * radio_control.values[RADIO_CONTROL_YAW] * 
YAW_COEF;
+      booz_stab_att_ref_rate.r = radio_control.values[RADIO_CONTROL_YAW] * 
YAW_COEF;
     }
 
 }
@@ -168,7 +169,7 @@
   /* 
    * Update reference
    */
-  booz_stabilization_attitude_ref_update(in_flight);
+  booz_stabilization_attitude_ref_update();
 
   /* 
    * Compute feedforward

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_float.c
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_float.c
       2009-10-29 23:23:37 UTC (rev 4301)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_float.c
       2009-10-30 19:08:41 UTC (rev 4302)
@@ -40,7 +40,7 @@
 
 #define USE_REF 1
 
-void booz_stabilization_attitude_ref_update(bool_t in_flight) {
+void booz_stabilization_attitude_ref_update() {
 
 #ifdef USE_REF
   

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_int.c
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_int.c
 2009-10-29 23:23:37 UTC (rev 4301)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_euler_int.c
 2009-10-30 19:08:41 UTC (rev 4302)
@@ -71,7 +71,7 @@
 
 #define USE_REF 1
 
-void booz_stabilization_attitude_ref_update(bool_t in_flight) {
+void booz_stabilization_attitude_ref_update() {
 
 #ifdef USE_REF
 

Modified: 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
===================================================================
--- 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
        2009-10-29 23:23:37 UTC (rev 4301)
+++ 
paparazzi3/trunk/sw/airborne/booz/stabilization/booz_stabilization_attitude_ref_quat_float.c
        2009-10-30 19:08:41 UTC (rev 4302)
@@ -59,7 +59,7 @@
 #define OMEGA_R   BOOZ_STABILIZATION_ATTITUDE_REF_OMEGA_R
 #define ZETA_R    BOOZ_STABILIZATION_ATTITUDE_REF_ZETA_R
 
-void booz_stabilization_attitude_ref_update(bool_t in_flight) {
+void booz_stabilization_attitude_ref_update() {
 
   /* integrate reference attitude            */
   struct FloatQuat qdot;
@@ -82,11 +82,8 @@
   /* propagate the 2nd order linear model    */
   booz_stab_att_ref_accel.p = -2.*ZETA_P*OMEGA_P*booz_stab_att_ref_rate.p - 
OMEGA_P*OMEGA_P*err.qx;
   booz_stab_att_ref_accel.q = -2.*ZETA_Q*OMEGA_Q*booz_stab_att_ref_rate.q - 
OMEGA_Q*OMEGA_Q*err.qy;
+  booz_stab_att_ref_accel.r = -2.*ZETA_R*OMEGA_R*booz_stab_att_ref_rate.r - 
OMEGA_R*OMEGA_R*err.qz;
 
-  if (in_flight) {
-    booz_stab_att_ref_accel.r = -2.*ZETA_R*OMEGA_R*booz_stab_att_ref_rate.r - 
OMEGA_R*OMEGA_R*err.qz;
-  }
-
   /* compute ref_euler */
   FLOAT_EULERS_OF_QUAT(booz_stab_att_ref_euler, booz_stab_att_ref_quat);

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