paparazzi/paparazzi — Issue #84: only radians in airborne code
Author: flixr
Created: 2011-11-08 09:10:36+00:00
State: open
Labels: Airborne

1. How about we really change all settings that are used in the airborne code to radians (mostly already the case).
Currently you basically always have to check the code to make sure the define is supposed to be in radians and it's really annoying when then some are in degrees... e.g.

* BODY_TO_IMU_x is in radians
* IMU_MAG_OFFSET is in degrees

2. It's confusing for users that sometimes in the airframe files the unit attribute is set, but has no effect whatsoever and you have to use RadOfDeg(x) in the value instead.
* Either remove all unit attributes from the example airframe files or
* Make it possible to define them with unit="deg" or unit="deg/s" in the airframe file, similar to unit and alt_unit we have in messages. And if no unit (or radians) is set, just leave it as-is, maybe even warn about unknown units...
* How far do we want to go enabling the specification of units? e.g. do that for theBFP POS and SPEED representations as well?
* Enhance settings in the same way so you can actually see what angle you are setting in degrees instead of radians.
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