Commit 10b917d0 authored by Tobias's avatar Tobias
Browse files

z-integrator after copters take-off

parent 889e4871
......@@ -14,7 +14,7 @@ takeOffDistance : 0.3
landingDistance : 0.1
durationTakeOff : 2.0
durationLanding : 2.0
takeOffDistance_load : 0.1
takeOffDistance_load : 0.0
landingDistance_load : 0.1
durationLanding_load : 2.0
......
......@@ -175,6 +175,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
}
case 1:
{
// --------------------------------------
// Take-off Copters
// --------------------------------------
......@@ -215,9 +216,12 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
else
{
agent_setpoint[2] = takeOffDistance;
float delta_z_current = request.ownCrazyflie.z - takeOffDistance ;
gravity_force -= 0.001*delta_z_current;
}
// compute agent's lqr command for the setpoint
agent_lqr_command( request , response );
break;
}
......
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