paparazzi/paparazzi — Issue #135: stabilization quaternion messed up for normal rotorcrafts (non transioning)
Author: flixr
Created: 2012-02-10 17:50:13+00:00
State: open

/cc @esden
We need take a look at quaternion setpoints and the quaternion stabilization... there seems to be some default stuff in there that makes it unusable for normal quadrotors.

e.g. in the function stabilization_attitude_read_rc_absolute in quat_setpoint.c

#ifdef AIRPLANE_STICKS
foo
#else // QUAD STICKS
bar
#endif

Unfortunaltey most of this seems to be written by Allen, who is not working on this anymore... and there are no comments to speak of!