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Commit 16c40841 authored by beuchatp's avatar beuchatp
Browse files

u=Kxi after estimator update

parent fb9a47b1
......@@ -616,11 +616,11 @@ void display_control_agent1( Controller::Request &request, Controller::Response
void centralized_control_command( Controller::Request &request, Controller::Response &response)
{
// Control output
Eigen::Matrix<float,12,1> u = -centralized_controller.K * estimator_state_prev;
// Estimator update
estimator_state_prev = centralized_controller.Phi * estimator_state_prev + centralized_controller.Gamma * y_to_controller;
// Control output
Eigen::Matrix<float,12,1> u = centralized_controller.K * estimator_state_prev;
// extract motor command from u:
float thrustSum = 0.0;
float outRoll = 0.0;
......
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