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Commit 31ed3635 authored by Tobias's avatar Tobias
Browse files

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

parent a9cf1177
......@@ -524,7 +524,7 @@ void centralized_control_command( Controller::Request &request, Controller::Resp
if (my_agentID == 1 )
{
// Controller for crazyflie 01
thrustSum = u(0,0);
thrustSum = -u(0,0);
outRoll = u(1,0);
outPitch = u(2,0);
outYaw = u(3,0);
......@@ -533,7 +533,7 @@ void centralized_control_command( Controller::Request &request, Controller::Resp
else if (my_agentID == 2 )
{
// Controller for crazyflie 02
thrustSum = u(4,0);
thrustSum = -u(4,0);
outRoll = u(5,0);
outPitch = u(6,0);
outYaw = u(7,0);
......@@ -542,7 +542,7 @@ void centralized_control_command( Controller::Request &request, Controller::Resp
else if (my_agentID == 3 )
{
// Controller for crazyflie 03
thrustSum = u(8,0);
thrustSum = -u(8,0);
outRoll = u(9,0);
outPitch = u(10,0);
outYaw = u(11,0);
......
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