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Created with Raphaël 2.2.09Mar7615Feb141087125Jan201918171613121020Dec191698765230Nov2928252331Oct3030Nov19Oct23Sep8Dec29Oct228Sep6Aug27Jul242221171098718Jun1128May22212014865429Apr2827222014139743130Mar2728Feb8Dec6529Nov282625221928Oct2214417Sep14Aug25Jul1076123Jun16151413108764330May292221191413125423Apr2086422Mar21201814Feb131211109754330Jan1219Dec1817151211986529Oct127Sep261817161210987630Aug28276Jul29Jun2825248May75432130Apr27262524232019181716131092Mar22Feb10Jan8629Dec2827262218161054130Nov2927Improved MPC DebuggingTuning of the MPC Backup LQR ControllerImplemented MPC Controller with tuningChanges to the GUI and added MPC parameters to yaml and includeRenamed variables for LQRFixed error in yaml aquisitionStarted to merge with MPC Controller CodeUpdated control parameters for MPCFixed MPC Implementation inside TutorialControllerService.cppAdded Projected Gradient DescentIncreased GD stepsize and leader velocityFixed bug in gradient descent algorithm implementationcorrected bug in GDAdded momentum GD and added circle trajectory for leaderNew gradient step size and commented debugging in default controllerAdded Integrator for zero steady-state errorFixed LQR Tuning parameters (good tracking for CF13)re-introduced angle threshold and added debugging for topology configuration in StudentController.cppchanged controller mode to CONTROLLER_RATES and added debugging in defaultController.cppTuned LQR gains for default controller and integration gains for steady state errorFixed LQR TrackingAdded debugging comments to tune LQRChanged sine wave traj along y -axis and leader namesUpdated start point of gradient descent and fixed initial conditions in computeFollowerTrajectoryAdded debug comments in DefaultController.cpp for angle threshold management, Increased angle threshold in the corresponding .h and .yaml filesDisabled angle threshold and deleted integral gainAdded comments for debuggingWorking gradient descent by changing the time scale and the step sizeChanged default setpoint CF11Gradient Descent implementationSorting vector of neighbours based on distanceAdded gradient computation for GDMoved constants and globals to header file for clarityStarted FES ControllerUpdated trajectories for leader independently of the drone nameAdded utility functions to make computeControllerOutput cleanAttempt to modify default formationAdded SINE_4 trajectoryChange of setpoints for demoUpdate circular trajectories for demo