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Commit e28e3db3 authored by elokdae's avatar elokdae
Browse files

Commit before optimization implementation

parent 29938c5d
This diff is collapsed.
This diff is collapsed.
......@@ -58,10 +58,10 @@ gainMatrixYawRate : [ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.0
thrustExcAmp : 10.0
# Roll rate excitation magnitude, in deg/s
rollRateExcAmp : 60.0
rollRateExcAmp : 10.0
# Pitch rate excitation magnitude, in deg/s
pitchRateExcAmp : 60.0
pitchRateExcAmp : 10.0
# Yaw rate excitation magnitude, in deg/s
yawRateExcAmp : 60.0
......
......@@ -1324,7 +1324,9 @@ void customCommandReceivedCallback(const CustomButtonWithHeader& commandReceived
m_thrustExcEnable = true;
m_rollRateExcEnable = true;
m_pitchRateExcEnable = true;
m_yawRateExcEnable = true;
// If any non-zero value given, do not excite yaw. Allows selecting whether to excite yaw or not
if (float_data == 0.0)
m_yawRateExcEnable = true;
break;
case DEEPC_CONTROLLER_STATE_EXCITATION:
......
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