Small changes to make Parameter Service work again

pps_ws/src/d_fall_pps/launch/Agent.launch

@@ -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") -->

pps_ws/src/d_fall_pps/param/ClientConfig.yaml

-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

pps_ws/src/d_fall_pps/param/DemoController.yaml

@@ -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
 
 

pps_ws/src/d_fall_pps/param/SafeController.yaml

 #equlibrium offset
-mass : 30
+mass : 29
 #quadratic motor regression equation (a0, a1, a2)
 motorPoly: [5.484560e-4, 1.032633e-6, 2.130295e-11]