From 5a91a85c3f1660bc5079ee57901fcf95705b7c90 Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Tue, 10 Apr 2018 12:02:51 +0200
Subject: [PATCH] Fixed small bug in Custom Controller due to variable name
change
---
pps_ws/src/d_fall_pps/src/CustomControllerService.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
index ea6c2a0e..194d25e5 100644
--- a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
@@ -140,9 +140,9 @@ std::vector<float> setpoint{0.0,0.0,0.4,0.0}; // The setpoints for (x,y,z)
// The LQR Controller parameters for "LQR_RATE_MODE"
-const float gainMatrixRoll[9] = { 0.00,-1.72, 0.00, 0.00,-1.34, 0.00, 5.12, 0.00, 0.00};
-const float gainMatrixPitch[9] = { 1.72, 0.00, 0.00, 1.34, 0.00, 0.00, 0.00, 5.12, 0.00};
-const float gainMatrixYaw[9] = { 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 2.84};
+const float gainMatrixRollRate[9] = { 0.00,-1.72, 0.00, 0.00,-1.34, 0.00, 5.12, 0.00, 0.00};
+const float gainMatrixPitchRate[9] = { 1.72, 0.00, 0.00, 1.34, 0.00, 0.00, 0.00, 5.12, 0.00};
+const float gainMatrixYawRate[9] = { 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 2.84};
const float gainMatrixThrust[9] = { 0.00, 0.00, 0.25, 0.00, 0.00, 0.14, 0.00, 0.00, 0.00};
@@ -446,7 +446,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
// Perform the "-Kx" LQR computation for the thrust adjustment to respoond with
for(int i = 0; i < 9; ++i)
{
- thrustAdjustment -= gainMatrixThrust_NineStateVector[i] * stateErrorBody[i];
+ thrustAdjustment -= gainMatrixThrust[i] * stateErrorBody[i];
}
// Put the computed thrust adjustment into the "response" variable,
--
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