removed gainset node in airframe.ml

paparazzi · Nov 28, 2012 · a36944f · a36944f
1 parent 8bbdbdb
commit a36944f
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Showing 3 changed files with 15 additions and 30 deletions.
diff --git a/conf/airframes/esden/gain_scheduling_example.xml b/conf/airframes/esden/gain_scheduling_example.xml
@@ -85,27 +85,27 @@
   </section>
 
   <!--////////////////THIS SECTION CONTAINS THE GAINS FOR DIFFERENT SETPOINTS\\\\\\\\\\\\\\\\\\-->
-  <gain_set>
+  <section name ="GAIN_SETS">
     <define name="NUMBER_OF_GAINSETS" value="2"/>
     <define name="SCHEDULING_VARIABLE" value="stab_att_sp_euler.theta"/>
     <define name="SCHEDULING_POINTS" value="{0, 20*M_PI/180}"/>
     <define name="SCHEDULING_VARIABLE_FRAC" value="12"/>
 
-    <gain name="PHI_P" value="{0, 1000}"/>
-    <gain name="PHI_D" value="{0, 1000}"/>
-    <gain name="PHI_I" value="{0, 1000}"/>
-    <gain name="PHI_DD" value="{0, 1000}"/>
+    <define name="PHI_P" value="{0, 1000}"/>
+    <define name="PHI_D" value="{0, 1000}"/>
+    <define name="PHI_I" value="{0, 1000}"/>
+    <define name="PHI_DD" value="{0, 1000}"/>
 
-    <gain name="PSI_P" value="{0, 1000}"/>
-    <gain name="PSI_D" value="{0, 1000}"/>
-    <gain name="PSI_I" value="{0, 1000}"/>
-    <gain name="PSI_DD" value="{0, 1000}"/>
+    <define name="PSI_P" value="{0, 1000}"/>
+    <define name="PSI_D" value="{0, 1000}"/>
+    <define name="PSI_I" value="{0, 1000}"/>
+    <define name="PSI_DD" value="{0, 1000}"/>
 
-    <gain name="THETA_P" value="{0, 1000}"/>
-    <gain name="THETA_D" value="{0, 1000}"/>
-    <gain name="THETA_I" value="{0, 1000}"/>
-    <gain name="THETA_DD" value="{0, 1000}"/>
-  </gain_set>
+    <define name="THETA_P" value="{0, 1000}"/>
+    <define name="THETA_D" value="{0, 1000}"/>
+    <define name="THETA_I" value="{0, 1000}"/>
+    <define name="THETA_DD" value="{0, 1000}"/>
+  </section>
 
   <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
 

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h
@@ -162,7 +162,7 @@ static inline void stabilization_attitude_read_rc_roll_pitch_earth_quat_f(struct
   q->qi = qi_roll * qi_pitch;
   q->qx = qx_roll * qi_pitch;
   q->qy = qi_roll * qy_pitch;
-  q->qz = -qx_roll * qy_pitch;
+  q->qz = qx_roll * qy_pitch;
 }
 
 static inline void stabilization_attitude_read_rc_setpoint_quat_f(struct FloatQuat* q_sp, bool_t in_flight) {

diff --git a/sw/tools/gen_airframe.ml b/sw/tools/gen_airframe.ml
@@ -276,21 +276,6 @@ let rec parse_section = fun s ->
       printf "#define AllActuatorsInit() { \\\n";
       List.iter (fun d -> printf "  Actuators%sInit();\\\n" d) drivers;
       printf "}\n\n";
-  | "gain_set" ->
-      let parse_gain = fun c ->
-      let attr = fun attr_name -> ExtXml.attrib c attr_name in
-      match Xml.tag c with
-      "gain" ->
-      let name = attr "name"
-      and value = attr "value" in
-      printf " #define %s %s\n" name value
-      | "define" ->
-      let name = attr "name"
-      and value = attr "value" in
-      printf "#define %s %s\n" name value
-      | _ -> xml_error "gain" in
-      List.iter parse_gain (Xml.children s);
-      nl ()
   | "include" ->
       let filename = ExtXml.attrib s "href" in
       let subxml = Xml.parse_file filename in