mc_att_control: add reduced quaternion attitude control

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to prioritize yaw compared to roll and pitch by combining
the shortest rotation to achieve a total thrust vector with
the full attitude respecting the desired yaw
not by scaling down the control output with the gains

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Matthias Grob

2018-03-15 17:16:14 +01:00

parent 9ff9692270

commit ba5f2254cd

2 changed files with 15 additions and 2 deletions

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src/lib/matrix

+1 -1

Submodule src/lib/matrix updated: f4243160e2...41a1cc7583