Commit 03afe094 authored by Paul Beuchat's avatar Paul Beuchat
Browse files

Adjusted demo controller yaml paramters for better xy tracking

parent 1a23b7ff
......@@ -12,7 +12,7 @@ motorPoly : [5.484560e-4, 1.032633e-6, 2.130295e-11]
shouldPerformConvertIntoBodyFrame : true
# Boolean indiciating whether the (x,y,z,yaw) of this agent should be published or not
shouldPublishCurrent_xyz_yaw : false
shouldPublishCurrent_xyz_yaw : true
# Boolean indicating whether the (x,y,z,yaw) setpoint of this agent should adapted in
# an attempt to follow the "my_current_xyz_yaw_topic" from another agent
......@@ -22,7 +22,7 @@ shouldFollowAnotherAgent : false
# > This parameter is a vector of integers that specifies agent ID's
# > The order of the agent ID's is the ordering of the line formation
# > i.e., the first ID is the leader, the second ID should follow the first ID, and so on
follow_in_a_line_agentIDs : [1, 2, 3]
follow_in_a_line_agentIDs : [5, 6, 7]
# Boolean indiciating whether the "Debug Message" of this agent should be published or not
shouldPublishDebugMessage : true
......@@ -78,8 +78,8 @@ gainMatrixYawTorque : [ 0.0000, 0.0000, 0.0000, 0.0000, 0.0000,
# The LQR Controller parameters for "mode = 3"
gainMatrixThrust_NineStateVector : [ 0.00, 0.00, 0.98, 0.00, 0.00, 0.25, 0.00, 0.00, 0.00]
gainMatrixRollRate : [ 0.00,-1.80, 0.00, 0.00,-1.38, 0.00, 5.20, 0.00, 0.00]
gainMatrixPitchRate : [ 1.80, 0.00, 0.00, 1.38, 0.00, 0.00, 0.00, 5.20, 0.00]
gainMatrixRollRate : [ 0.00,-6.20, 0.00, 0.00,-3.00, 0.00, 5.20, 0.00, 0.00]
gainMatrixPitchRate : [ 6.20, 0.00, 0.00, 3.00, 0.00, 0.00, 0.00, 5.20, 0.00]
gainMatrixYawRate : [ 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 2.30]
# The LQR Controller parameters for "mode = 4"
......@@ -99,7 +99,7 @@ gainMatrixYawRate_Nested : [ 0.00, 0.00, 2.30]
# The paramters for the "Angle Reponse Test" controller mode
angleResponseTest_pitchAngle_degrees : 25
angleResponseTest_pitchAngle_degrees : 7
angleResponseTest_distance_meters : 0.02
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment