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Commit 17c8e704 authored by Tobias's avatar Tobias
Browse files

z-integrator after copters take-off and when LQG is enabled

parent dd70a51c
......@@ -397,7 +397,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
}
case 5:
{
float delta_z_load_current = request.otherCrazyflies[3].z - load_setpoint[2];
// --------------------------------------
// Centralized LQG controller copter and load
// --------------------------------------
......@@ -428,7 +428,8 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
// compute centralized controller commands
centralized_control_command( request, response );
gravity_force_copterloadsystem -= 0.001*delta_z_load_current;
float delta_z_load_current = request.otherCrazyflies[3].z - load_setpoint[2];
gravity_force_copterloadsystem -= 0.01*delta_z_load_current;
// compute agent's lqr command for the setpoint
//agent_lqr_command( request , response );
......
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