outer loop INDI control #1354
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outer loop INDI control #1354
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| QUAT_COPY(q_sp, q_rp_sp); | ||
| } | ||
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| QUAT_BFP_OF_REAL(stab_att_sp_quat,q_sp); |
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missing include stabilization/stabilization_attitude_ref_quat_int.h
and new line at end of file
EwoudSmeur
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the problem was not that I had to include stabilization/stabilization_attitude_ref_quat_int.h, but that if you build with euler then stab_att_sp_quat is nowhere defined... not really sure what to do about this |
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Outer loop INDI control.
Controls accelerations of the drone to counteract (aerodynamic) disturbances. This is a quick implementation that only works for the horizontal accelerations, but vertical can be added easily.
Test flown with hover_z_hold