diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user.7257614 b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user.7257614
new file mode 100644
index 0000000000000000000000000000000000000000..3b064d2339f42557e51b032dbc9c7d731163b999
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user.7257614
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diff --git a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
index 406e0a21977b2fa62fc9cbc82bffd3e000e9a8a9..a50f6eb82a91e55f050e086e1079667e5811ba85 100644
--- a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
@@ -41,7 +41,8 @@ const float gainMatrixThrust[9] = {0, 0, 0.22195826, 0, 0, 0.12362477, 0, 0, 0};
// load parameters from corresponding YAML file
-void loadParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length) {
+void loadParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length)
+{
if(!nodeHandle.getParam(name, val)){
ROS_ERROR_STREAM("missing parameter '" << name << "'");
}
@@ -111,15 +112,13 @@ void convertIntoBodyFrame(float est[9], float (&estBody)[9], int yaw_measured)
bool calculateControlOutput(Controller::Request &request, Controller::Response &response) {
//writing the data from -request- to command line
//might be useful for debugging
- ROS_INFO_STREAM("x-coordinates: " << request.ownCrazyflie.x);
- ROS_INFO_STREAM("y-coordinates: " << request.ownCrazyflie.y);
- ROS_INFO_STREAM("z-coordinates: " << request.ownCrazyflie.z);
- ROS_INFO_STREAM("roll: " << request.ownCrazyflie.roll);
- ROS_INFO_STREAM("pitch: " << request.ownCrazyflie.pitch);
- ROS_INFO_STREAM("yaw: " << request.ownCrazyflie.yaw);
- ROS_INFO_STREAM("Delta t: " << request.ownCrazyflie.acquiringTime);
-
-
+ // ROS_INFO_STREAM("x-coordinates: " << request.ownCrazyflie.x);
+ // ROS_INFO_STREAM("y-coordinates: " << request.ownCrazyflie.y);
+ // ROS_INFO_STREAM("z-coordinates: " << request.ownCrazyflie.z);
+ // ROS_INFO_STREAM("roll: " << request.ownCrazyflie.roll);
+ // ROS_INFO_STREAM("pitch: " << request.ownCrazyflie.pitch);
+ // ROS_INFO_STREAM("yaw: " << request.ownCrazyflie.yaw);
+ // ROS_INFO_STREAM("Delta t: " << request.ownCrazyflie.acquiringTime);
// ********* do your calculations here *********
//Tip: create functions that you call here to keep you code cleaner
@@ -160,11 +159,14 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
response.controlOutput.roll = outRoll;
response.controlOutput.pitch = outPitch;
response.controlOutput.yaw = outYaw;
+
response.controlOutput.motorCmd1 = computeMotorPolyBackward(thrustIntermediate + gravity_force);
response.controlOutput.motorCmd2 = computeMotorPolyBackward(thrustIntermediate + gravity_force);
response.controlOutput.motorCmd3 = computeMotorPolyBackward(thrustIntermediate + gravity_force);
response.controlOutput.motorCmd4 = computeMotorPolyBackward(thrustIntermediate + gravity_force);
+ ROS_INFO_STREAM("controlOutput.cmd4 = " << response.controlOutput.motorCmd4);
+
/*choosing the Crazyflie onBoard controller type.
it can either be Motor, Rate or Angle based */
// response.controlOutput.onboardControllerType = MOTOR_MODE;