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Commit 08a770dd authored by beuchatp's avatar beuchatp
Browse files

minor changes for estimation error info-stream

parent 545d1325
......@@ -564,12 +564,12 @@ void centralized_control_command( Controller::Request &request, Controller::Resp
ROS_INFO_STREAM("[STUDENT CONTROLLER] desired pitch-rate computed = " << outPitch );
ROS_INFO_STREAM("[STUDENT CONTROLLER] desired yaw-rate computed = " << outYaw );
float est_error_roll = overlapping_estimator_state_prev(0)-request.otherCrazyflies[0].roll;
float est_error_pitch = overlapping_estimator_state_prev(1)-request.otherCrazyflies[0].pitch;
float est_error_yaw = overlapping_estimator_state_prev(2)-request.otherCrazyflies[0].yaw;
float est_error_load_x = overlapping_estimator_state_prev(21)-request.otherCrazyflies[3].x;
float est_error_load_y = overlapping_estimator_state_prev(22)-request.otherCrazyflies[3].y;
float est_error_load_z = overlapping_estimator_state_prev(23)-request.otherCrazyflies[3].z;
float est_error_roll = estimator_state_prev(0)-request.otherCrazyflies[0].roll;
float est_error_pitch = estimator_state_prev(1)-request.otherCrazyflies[0].pitch;
float est_error_yaw = estimator_state_prev(2)-request.otherCrazyflies[0].yaw;
float est_error_load_x = estimator_state_prev(21)-request.otherCrazyflies[3].x;
float est_error_load_y = estimator_state_prev(22)-request.otherCrazyflies[3].y;
float est_error_load_z = estimator_state_prev(23)-request.otherCrazyflies[3].z;
ROS_INFO_STREAM("[STUDENT CONTROLLER] ESTIMATION ERRORS:");
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: roll = " << est_error_roll);
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: pitch = " << est_error_pitch);
......
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