SafeController.yaml 690 Bytes
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#equlibrium offset
feedforwardMotor: [37000, 37000, 37000, 37000]

#quadratic motor regression equation (a0, a1, a2)
motorPoly: [5.484560e-4, 1.032633e-6, 2.130295e-11]

#feedback gain matrix
gainMatrixRoll: [0, -1.714330725, 0, 0, -1.337107465, 0, 5.115369735, 0, 0]
gainMatrixPitch: [1.714330725, 0, 0, 1.337107465, 0, 0, 0, 5.115369735, 0]
gainMatrixYaw: [0, 0, 0, 0, 0, 0, 0, 0, 2.843099534]
gainMatrixThrust: [0, 0, 0.22195826, 0, 0, 0.12362477, 0, 0, 0]

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#kalman filter
filterGain: [1, 1, 1, 22.3384, 22.3384, 22.3384] #K_infinite of feedback
estimatorMatrix: [-22.3384, 0.9106] #only for velocity calculation

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#setpoint in meters (x, y, z, yaw)
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defaultSetpoint: [0.0, 0.0, 0.3, 0.0]