Commit 400392df authored by Tobias's avatar Tobias
Browse files

test controlle with measurement noise weighting 0.001*D_w

parent e8da47d6
......@@ -217,7 +217,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
// load z-setpoint is current load z-position
load_setpoint[0] = request.otherCrazyflies[3].x;
load_setpoint[1] = request.otherCrazyflies[3].y;
load_setpoint[2] = request.otherCrazyflies[3].z + 0.05;
load_setpoint[2] = request.otherCrazyflies[3].z;
}
// Distributed Controller runs at 100Hz --> downsampling by factor 2
......
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