galoisinc / ardupilot-mega Goto Github PK

Hi,
I use the ArduPilot library for my own reasons.
Personally I cannot understand why they still use not cmake in ArduPilot 3.1.*
Yesterday I tried to compile the library with cmake and avr 4.8. Of course there were a lot of problems (deprecated warnings, missing flags (compiler and definitions of the HAL_BOARD).
At the end I was able to compile a part, but somewhere at AP_HAL it stucked :(
Is there maybe a plan to bring the build system up to a more recent version? Maybe they will even include it in the main repo.

Greetings, Daniel

Hi,

In the Fast Rotations by William Premerlani it is explained how to deal with fast rotations. One of the proposals is to create a variable proportional feedback gain (see pages 8-9). However, this does not match with the implementation in the file AP_AHRS_DCM.cpp (lines 266-288) as the values 50 and 500 are converted to degrees per second rather than to radians per second. The values 50 and 500 given in the Fast Rotations document are already in degrees per second. And as spin_rate is in radians per second, it should be compared to a constant with unit radians per second. I would expect that it should be ToRad instead of ToDeg for all three instances in _P_gain.

Is this a mistake or is this just an implementation using different values?