remove scaling from rate feedback #1601
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As already mentioned in #1482, I think it would make more sense to convert the really simple rate control to float, or do you see any advantage of keeping fixed point here? |
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I agree that float would be simpler. Though that can well be a separate pull request. Can we first merge this, before new airframe files with rate gains are added? |
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Currently gains from rate control do not carry over to attitude stabilization, because there is a factor 2 in the rate control and prescaler values (factor 3 for rate) in the attitude control. I searched through the airframes, and there are not many that use rate control. I doubled all the gains and removed rate control for bebop, as rate control over datalink is very difficult due to lag.
The prescaler values should also be default 1 for stabilization quat_int, as they already are for float_quat. However, this will mean updating a large amount of airframes, which will require some scripting. I might have time for this later.