Commit 43004c3d authored by beuchatp's avatar beuchatp
Browse files

Small changes to make Parameter Service work again

parent 75188f9a
......@@ -79,7 +79,7 @@
file = "$(find d_fall_pps)/param/YamlFileNames.yaml"
ns = "YamlFileNames"
/>
<!-- rosparam
<rosparam
command = "load"
file = "$(find d_fall_pps)/param/SafeController.yaml"
ns = "SafeController"
......@@ -98,7 +98,7 @@
command = "load"
file = "$(find d_fall_pps)/param/MpcController.yaml"
ns = "MpcController"
/ -->
/>
</node>
<!-- AGENT GUI (aka. the "student GUI") -->
......
safeController: "SafeControllerService/RateController"
demoController: "DemoControllerService/DemoController"
studentController: "StudentControllerService/StudentController"
mpcController: "MpcControllerService/MpcController"
#safeController: "SafeControllerService/RateController"
#demoController: "DemoControllerService/DemoController"
#studentController: "StudentControllerService/StudentController"
#mpcController: "MpcControllerService/MpcController"
strictSafety: false
angleMargin: 0.6
......
......@@ -61,7 +61,7 @@ controller_mode : 6
# each of (x,y,z,roll,pitch,yaw)
# 3 - Quad-rotor Model Based Method
# Uses the model of the quad-rotor and the previous inputs
estimator_method : 2
estimator_method : 1
# The LQR Controller parameters for "mode = 1"
......@@ -99,7 +99,7 @@ gainMatrixYawRate_Nested : [ 0.00, 0.00, 2.30]
# The paramters for the "Angle Reponse Test" controller mode
angleResponseTest_pitchAngle_degrees : 20
angleResponseTest_pitchAngle_degrees : 25
angleResponseTest_distance_meters : 0.02
......
#equlibrium offset
mass : 30
mass : 29
#quadratic motor regression equation (a0, a1, a2)
motorPoly: [5.484560e-4, 1.032633e-6, 2.130295e-11]
......
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