Commit 2506f579 authored by roangel's avatar roangel
Browse files

more pictures in wiki

parent 1fe0d7b9
......@@ -89,7 +89,8 @@ important files that should be taken into account.
* In `d_fall_pps/param`
* _ClientConfig.yaml_ <br>
* _ClientConfig.yaml_ <br><br>
<img src="./pics/client_config_yaml.png" style="width: 400px;"/> <br><br>
This file needs to be changed to define names for the custom controller. **The safeController property shouldn't be changed!** <br>
*Usage:*
......@@ -168,12 +169,15 @@ important files that should be taken into account.
that the file is already filled with some code. This code is a simple LQR
controller that is offered as a template for the student to start developing
their own controller. Change the file as you wish with your own controller
algorithm.
algorithm. The function partially shown below is the most important part of
our this file:<br><br>
<img src="./pics/custom_controller_src.png" style="width: 700px;"/> <br><br>
In the template you can also see an example of how to use the
`CustomController.yaml` to load parameters that you may want to change
without having to compile or restart the system.
without having to compile or restart the system. Here, as an example, we
pass some parameters that can be seen below:<br><br>
<img src="./pics/custom_controller_yaml.png" style="width: 400px;"/> <br><br>
2. Go to `cd ~/work/D-FaLL-System/pps_ws` and write `catkin_make`.
3. Once everything has compiled without errors, run the next launch file:
......
......@@ -133,16 +133,18 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
request.ownCrazyflie.y -= setpoint[1];
request.ownCrazyflie.z -= setpoint[2];
float yaw = request.ownCrazyflie.yaw - setpoint[3];
while(yaw > PI) {yaw -= 2 * PI;}
while(yaw < -PI) {yaw += 2 * PI;}
request.ownCrazyflie.yaw = yaw;
float est[9];
float est[9]; // vector for the estimation of the state
est[0] = request.ownCrazyflie.x;
est[1] = request.ownCrazyflie.y;
est[2] = request.ownCrazyflie.z;
// estimate speed of crazyflie. Simplest way: discrete derivative
est[3] = (request.ownCrazyflie.x - previous_location.x) * control_frequency;
est[4] = (request.ownCrazyflie.y - previous_location.y) * control_frequency;
est[5] = (request.ownCrazyflie.z - previous_location.z) * control_frequency;
......@@ -167,7 +169,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
thrustIntermediate -= gainMatrixThrust[i] * state[i];
}
ROS_INFO_STREAM("thrustIntermediate = " << thrustIntermediate);
ROS_INFO_STREAM("thrustIntermediate = " << thrustIntermediate);
response.controlOutput.roll = outRoll;
response.controlOutput.pitch = outPitch;
......
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