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widmerl
Computervision based Tracking with Crazyflies
Commits
0eeaf7a0
Commit
0eeaf7a0
authored
Jun 24, 2018
by
roangel
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Changes left on Teacher Computer after completetion of thesis, this commit was performed by Paul.
parent
c4512715
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4 additions
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4 deletions
+4
-4
pps_ws/src/d_fall_pps/param/Crazyflie.db
pps_ws/src/d_fall_pps/param/Crazyflie.db
+1
-1
pps_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp
pps_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp
+3
-3
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pps_ws/src/d_fall_pps/param/Crazyflie.db
View file @
0eeaf7a0
1,PPS_CF0
1
,0/
0
/2M/E7E7E7E70
1
,0,-
0.62,-0.63,-0.2,0.7,0.83
,1.2
1,PPS_CF0
2
,0/
8
/2M/E7E7E7E70
2
,0,-
1.11,-1.09,-0.2,5.14,1.05
,1.2
pps_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp
View file @
0eeaf7a0
...
...
@@ -202,7 +202,7 @@ VectorXtype x0;
std
::
mutex
MPC_mutex
;
int
N
=
10
;
int
N
=
2
;
// ROS Publisher for debugging variables
...
...
@@ -521,8 +521,8 @@ void do_MPC(int* publish_rate)
MPC_mutex
.
unlock
();
// Do the MPC step:
//
U_0 = mympc_varying_another_ADP(A_tray, B_tray, g_tray, Q, R, P, N, x0_local, X_ref, U_ref, 0, 0.1391*4, 0.7887);
U_0
=
mympc_varying_another
(
A_tray
,
B_tray
,
g_tray
,
Q
,
R
,
P
,
N
,
x0_local
,
X_ref
,
U_ref
,
0
,
0.1391
*
4
,
0.7887
);
U_0
=
mympc_varying_another_ADP
(
A_tray
,
B_tray
,
g_tray
,
Q
,
R
,
P
,
N
,
x0_local
,
X_ref
,
U_ref
,
0
,
0.1391
*
4
,
0.7887
);
//
U_0 = mympc_varying_another(A_tray, B_tray, g_tray, Q, R, P, N, x0_local, X_ref, U_ref, 0, 0.1391*4, 0.7887);
VectorUtype
u
=
U_0
.
tail
(
4
);
// this is the input to apply next
// prediction of next N states:
...
...
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