- I gain was applied wrongly, such that the integrator value was depending
direcly on the I gain. This made the integrator value jump when the gain
was changed
Signed-off-by: Roman <bapstroman@gmail.com>
- split rate control into body rate control and euler rate control
- this allows standard attitude control but also direct rate control
of all three axes
- allow activation/deactivation of turn compensation
Signed-off-by: Roman <bapstroman@gmail.com>
Paul Riseborough
Daniel Agar
Roman
Lorenz Meier