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Commit 1199a7af authored by beuchatp's avatar beuchatp
Browse files

LQG 1e-3*Qu , 100Hz , printing estimates for copter 1

parent aa932e89
......@@ -637,13 +637,13 @@ void centralized_control_command( Controller::Request &request, Controller::Resp
if (outer_loop_counter % 100 == 0)
{
ROS_INFO_STREAM("--------------------------" );
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: roll estimate = " << estimator_state_prev_only_agent1[0] );
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: pitch estimate = " << estimator_state_prev_only_agent1[1] );
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: yaw estimate = " << estimator_state_prev_only_agent1[2] );
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: cable phi estimate = " << estimator_state_prev_only_agent1[3] );
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: cable theta estimate = " << estimator_state_prev_only_agent1[4] );
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: cable phi_dot estimate = " << estimator_state_prev_only_agent1[5] );
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: cable ttheta_dot estimate = " << estimator_state_prev_only_agent1[6] );
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: roll estimate = " << estimator_state_prev[0] );
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: pitch estimate = " << estimator_state_prev[1] );
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: yaw estimate = " << estimator_state_prev[2] );
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: cable phi estimate = " << estimator_state_prev[3] );
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: cable theta estimate = " << estimator_state_prev[4] );
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: cable phi_dot estimate = " << estimator_state_prev[5] );
ROS_INFO_STREAM("[STUDENT CONTROLLER] agent1: cable ttheta_dot estimate = " << estimator_state_prev[6] );
}
......
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