From f1325010116d5c2dc80ad6f8576a96e7d2bea32a Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Tue, 5 Dec 2017 10:35:46 +0100
Subject: [PATCH] Fixed bug
---
.../src/d_fall_pps/src/CustomControllerService.cpp | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
index 27258197..7d488918 100644
--- a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
@@ -143,16 +143,16 @@ std::vector<float> setpoint{0.0,0.0,0.4,0.0}; // The setpoints for (x,y,z)
int controller_type = LQR_RATE_MODE;
// The LQR Controller parameters for "LQR_RATE_MODE"
-std::vector<float> gainMatrixRollRate(9) = { 0.00,-1.72, 0.00, 0.00,-1.34, 0.00, 5.12, 0.00, 0.00};
-std::vector<float> gainMatrixPitchRate(9) = { 1.72, 0.00, 0.00, 1.34, 0.00, 0.00, 0.00, 5.12, 0.00};
-std::vector<float> gainMatrixYawRate(9) = { 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 2.84};
-std::vector<float> gainMatrixThrust_NineStateVector(9) = { 0.00, 0.00, 0.25, 0.00, 0.00, 0.14, 0.00, 0.00, 0.00};
+std::vector<float> gainMatrixRollRate = { 0.00,-1.72, 0.00, 0.00,-1.34, 0.00, 5.12, 0.00, 0.00};
+std::vector<float> gainMatrixPitchRate = { 1.72, 0.00, 0.00, 1.34, 0.00, 0.00, 0.00, 5.12, 0.00};
+std::vector<float> gainMatrixYawRate = { 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 2.84};
+std::vector<float> gainMatrixThrust_NineStateVector = { 0.00, 0.00, 0.25, 0.00, 0.00, 0.14, 0.00, 0.00, 0.00};
// The LQR Controller parameters for "LQR_ANGLE_MODE"
-std::vector<float> gainMatrixRollAngle(6) = { 0.00,-0.20, 0.00, 0.00,-0.20, 0.00};
-std::vector<float> gainMatrixPitchAngle(6) = { 0.20, 0.00, 0.00, 0.20, 0.00, 0.00};
-std::vector<float> gainMatrixThrust_SixStateVector(6) = { 0.00, 0.00, 0.31, 0.00, 0.00, 0.14};
+std::vector<float> gainMatrixRollAngle = { 0.00,-0.20, 0.00, 0.00,-0.20, 0.00};
+std::vector<float> gainMatrixPitchAngle = { 0.20, 0.00, 0.00, 0.20, 0.00, 0.00};
+std::vector<float> gainMatrixThrust_SixStateVector = { 0.00, 0.00, 0.31, 0.00, 0.00, 0.14};
// ROS Publisher for debugging variables
ros::Publisher debugPublisher;
--
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