[stabilization] Float euler bounding and scaling fix

- added BoundAbs to properly bound the commands
- removed gain denominators in the control loop (i.e. now the gains should be more consistent with other stabilization systems)

First, it is easier to set your gains now, as the values set by GCS/airframe config are the ones actually used (no division).
Second, the gains are in the same range as for other stabilization systems (no need to change xml settings files for GCS to get proper range).

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c

@@ -160,11 +160,11 @@ void stabilization_attitude_run(bool_t  in_flight) {
 
   /* Compute feedforward */
   stabilization_att_ff_cmd[COMMAND_ROLL] =
-    stabilization_gains.dd.x * stab_att_ref_accel.p / 32.;
+    stabilization_gains.dd.x * stab_att_ref_accel.p;
   stabilization_att_ff_cmd[COMMAND_PITCH] =
-    stabilization_gains.dd.y * stab_att_ref_accel.q / 32.;
+    stabilization_gains.dd.y * stab_att_ref_accel.q;
   stabilization_att_ff_cmd[COMMAND_YAW] =
-    stabilization_gains.dd.z * stab_att_ref_accel.r / 32.;
+    stabilization_gains.dd.z * stab_att_ref_accel.r;
 
   /* Compute feedback                  */
   /* attitude error            */
@@ -192,24 +192,28 @@ void stabilization_attitude_run(bool_t  in_flight) {
   stabilization_att_fb_cmd[COMMAND_ROLL] =
     stabilization_gains.p.x  * att_err.phi +
     stabilization_gains.d.x  * rate_err.p +
-    stabilization_gains.i.x  * stabilization_att_sum_err.phi / 1024.;
+    stabilization_gains.i.x  * stabilization_att_sum_err.phi;
 
   stabilization_att_fb_cmd[COMMAND_PITCH] =
     stabilization_gains.p.y  * att_err.theta +
     stabilization_gains.d.y  * rate_err.q +
-    stabilization_gains.i.y  * stabilization_att_sum_err.theta / 1024.;
+    stabilization_gains.i.y  * stabilization_att_sum_err.theta;
 
   stabilization_att_fb_cmd[COMMAND_YAW] =
     stabilization_gains.p.z  * att_err.psi +
     stabilization_gains.d.z  * rate_err.r +
-    stabilization_gains.i.z  * stabilization_att_sum_err.psi / 1024.;
+    stabilization_gains.i.z  * stabilization_att_sum_err.psi;
 
 
   stabilization_cmd[COMMAND_ROLL] =
-    (stabilization_att_fb_cmd[COMMAND_ROLL]+stabilization_att_ff_cmd[COMMAND_ROLL])/16.;
+    (stabilization_att_fb_cmd[COMMAND_ROLL]+stabilization_att_ff_cmd[COMMAND_ROLL]);
   stabilization_cmd[COMMAND_PITCH] =
-    (stabilization_att_fb_cmd[COMMAND_PITCH]+stabilization_att_ff_cmd[COMMAND_PITCH])/16.;
+    (stabilization_att_fb_cmd[COMMAND_PITCH]+stabilization_att_ff_cmd[COMMAND_PITCH]);
   stabilization_cmd[COMMAND_YAW] =
-    (stabilization_att_fb_cmd[COMMAND_YAW]+stabilization_att_ff_cmd[COMMAND_YAW])/16.;
+    (stabilization_att_fb_cmd[COMMAND_YAW]+stabilization_att_ff_cmd[COMMAND_YAW]);
 
+  /* bound the result */
+  BoundAbs(stabilization_cmd[COMMAND_ROLL], MAX_PPRZ);
+  BoundAbs(stabilization_cmd[COMMAND_PITCH], MAX_PPRZ);
+  BoundAbs(stabilization_cmd[COMMAND_YAW], MAX_PPRZ);
 }