Commit a1f5673f authored by michaero's avatar michaero
Browse files

added Custom Controller for motor-mode

parent 53888bd9
# mass of the crazyflie
mass : 30
# Mass of the crazyflie
mass : 36
# frequency of the controller, in hertz
# Frequency of the controller, in hertz
control_frequency : 200
#quadratic motor regression equation (a0, a1, a2)
motorPoly: [5.484560e-4, 1.032633e-6, 2.130295e-11]
# Quadratic motor regression equation (a0, a1, a2)
motorPoly : [5.484560e-4, 1.032633e-6, 2.130295e-11]
# Boolean for whether to execute the convert into body frame function
shouldPerformConvertIntoBodyFrame : true
# Boolean indiciating whether the (x,y,z,yaw) of this agent should be published or not
shouldPublishCurrent_xyz_yaw : false
# Boolean indicating whether the (x,y,z,yaw) setpoint of this agent should adapted in
# an attempt to follow the "my_current_xyz_yaw_topic" from another agent
shouldFollowAnotherAgent : false
# The order in which agents should follow eachother
# > This parameter is a vector of integers that specifies agent ID's
# > The order of the agent ID's is the ordering of the line formation
# > i.e., the first ID is the leader, the second ID should follow the first ID, and so on
follow_in_a_line_agentIDs : [1, 2, 3]
# Boolean indiciating whether the "Debug Message" of this agent should be published or not
shouldPublishDebugMessage : false
# Boolean indiciating whether the debugging ROS_INFO_STREAM should be displayed or not
shouldDisplayDebugInfo : false
# A flag for which controller to use, defined as:
# 1 - LQR controller based on the state vector: [position,velocity,angles]
# 2 - LQR controller based on the state vector: [position,velocity]
controller_type : 1
# The LQR Controller parameters for "mode = 1"
gainMatrixRollRate : [ 0.00,-1.72, 0.00, 0.00,-1.34, 0.00, 5.12, 0.00, 0.00]
gainMatrixPitchRate : [ 1.72, 0.00, 0.00, 1.34, 0.00, 0.00, 0.00, 5.12, 0.00]
gainMatrixYawRate : [ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 2.84]
gainMatrixThrust_NineStateVector : [ 0.00, 0.00, 0.25, 0.00, 0.00, 0.14, 0.00, 0.00, 0.00]
# The LQR Controller parameters for "mode = 2"
gainMatrixRollAngle : [ 0.00,-0.20, 0.00, 0.00,-0.20, 0.00]
gainMatrixPitchAngle : [ 0.20, 0.00, 0.00, 0.20, 0.00, 0.00]
gainMatrixThrust_SixStateVector : [ 0.00, 0.00, 0.31, 0.00, 0.00, 0.14]
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