MpcController.yaml 827 Bytes
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# Mass of the crazyflie
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mass : 27
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# Frequency of the controller, in hertz
control_frequency : 200

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

gainMatrixRollRate_Nested           :  [ 4.00, 0.00, 0.00]
gainMatrixPitchRate_Nested          :  [ 0.00, 4.00, 0.00]
gainMatrixYawRate_Nested            :  [ 0.00, 0.00, 2.30]

# THE POINT MASS KALMAN FILTER (PMKF) GAINS AND ERROR EVOLUATION
# > For the (x,y,z) position
PMKF_Ahat_row1_for_positions  :  [  0.6723, 0.0034]
PMKF_Ahat_row2_for_positions  :  [-12.9648, 0.9352]
PMKF_Kinf_for_positions       :  [  0.3277,12.9648]


# > For the (roll,pitch,yaw) angles
PMKF_Ahat_row1_for_angles     :  [  0.6954, 0.0035]
PMKF_Ahat_row2_for_angles     :  [-11.0342, 0.9448]
PMKF_Kinf_for_angles          :  [  0.3046,11.0342]