paparazzi/paparazzi — pull request #427 by podhrmic (2013-04-25 21:04:59+00:00)
Title: Fixed RC-input scaling in HOVER and NAV mode

If you are using float stabilization (eulers or quat) -> i.e. STABILIZATION_ATTITUDE_TYPE_FLOAT is defined, the function stabilization_attitude_read_rc_setpoint_eulers (https://github.com/podhrmic/paparazzi/pull/new/master#L1L98) does not work properly in NAV or HOVER mode.
stabilization_attitude_read_rc_setpoint_eulers uses SP_MAX_R (PHI, THETA) limits, but they are incorrectly set as floating point since STABILIZATION_ATTITUDE_TYPE_FLOAT is defined (see https://github.com/podhrmic/paparazzi/pull/new/master#L1L34).
A solution is to define max setpoints separately for float and int interface every time.
Also, in case of STABILIZATION_ATTITUDE_TYPE_FLOAT the NAV/HOVER attitude setpoints should be converted back to float (https://github.com/podhrmic/paparazzi/pull/new/master#L0L237 and https://github.com/podhrmic/paparazzi/pull/new/master#L0L348