Adjusted Custom Controller for have both a rate and angle mode controller

pps_ws/src/d_fall_pps/param/CustomController.yaml

@@ -8,7 +8,7 @@ control_frequency : 200
 motorPoly : [5.484560e-4, 1.032633e-6, 2.130295e-11]
 
 # Boolean for whether to execute the convert into body frame function
-shouldPerformConvertIntoBodyFrame : false
+shouldPerformConvertIntoBodyFrame : true
 
 # Boolean indiciating whether the (x,y,z,yaw) of this agent should be published or not
 shouldPublishCurrent_xyz_yaw : false
@@ -21,4 +21,15 @@ shouldFollowAnotherAgent : false
 # > 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]
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+follow_in_a_line_agentIDs : [1, 2, 3]
+
+# 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
+
+# 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
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