Potential Error in the new Copter Rocks software

[Marcell]

Hello Copter Rocks Community,

reading through the new Dave 4 Copter Rocks Software I noticed a potential error in the AttitudeController and MPU9150 files, if the sensor fusion algorithm is changed.

#define ATTITUDEALGORITHM 	2

If the define is set to 2 (QuaternionFilter), the name of the GetAngles() function is misleading as it returns the Pitch and Roll Angle of the copter but for Yaw it returns its Yawrate.

However if the ATTITUDEALGORITHM 1 (Kalman filter) is used, the function returns the Roll, Pitch and Yaw angle of the copter.

So changing the attitude algorithm would cause problems in the AngleRateController as this function expects the Yawrate.

I would make a Pull request on Github to fix this but the new Software is only uploaded as zip file.

[Rafael Gattringer]

Hi Marcell,

Walter will extract and reupload the single files on Monday.

Can anyone confirm this fix?

Best regards, Rafael

[cherry]

Hello Marcell,

The code should fly as it is right now on our GitHub repository: https://github.com/ManagementCenterI...k/copter.rocks
I also unpacked the .zip file on the repository.
Please flash the software and try to get your quadcopter flying. If you have any more queries please just ask.

Best regards, Walter

[Marcell]

Hello Walter,

I just wanted to point out that there is a potential error in the code if someone changes the define for the sensor fusion algorithm. (#define ATTITUDEALGORITHM)

[Rafael Gattringer]

This seems to be the relevant file on GitHub - correct?

https://github.com/ManagementCenterI...9X50/MPU9150.h

[Marcell]

This file: https://github.com/ManagementCenterI...9X50/MPU9150.c

I made the changes and sent a pull request on github.