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[paparazzi-commits] [paparazzi/paparazzi] 5dd484: ADD tilt twist control

From: Ewoud Smeur
Subject: [paparazzi-commits] [paparazzi/paparazzi] 5dd484: ADD tilt twist control (twist around z) (#2782)
Date: Wed, 22 Sep 2021 14:26:24 -0700

  Branch: refs/heads/master
  Commit: 5dd484ec8dde34af89979410527f82c6b83ea230
  Author: Ewoud Smeur <>
  Date:   2021-09-22 (Wed, 22 Sep 2021)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
    M sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
    M sw/airborne/math/pprz_algebra_float.c
    M sw/airborne/math/pprz_algebra_float.h
    M sw/airborne/test/Makefile
    M sw/airborne/test/pprz_algebra_print.h
    A sw/airborne/test/test_tilt_twist.c

  Log Message:
  ADD tilt twist control (twist around z) (#2782)

This commit implements tilt twist control for vehicles that rotate slow
in the z axis compared to the other axes (like tailsitters).

The attitude error is decomposed in a tilt and a twist part, and the
tilt error is compensated assuming that the rotation around z is zero
(very slow in comparison).

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