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Commit 402eedc9 authored by Tobias's avatar Tobias
Browse files

200Hz controller, less weight on body rates

parent 2e6b4782
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\ No newline at end of file
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\ No newline at end of file
......@@ -699,10 +699,10 @@ void get_y_from_CFData_withLoad( Controller::Request &request )
y_meas(16,0) = request.otherCrazyflies[2].y;
y_meas(17,0) = request.otherCrazyflies[2].z;
// load measurement
y_meas(18,0) = request.otherCrazyflies[3].x;
y_meas(19,0) = request.otherCrazyflies[3].y;
y_meas(20,0) = request.otherCrazyflies[3].z;
y_meas(21,0) = request.otherCrazyflies[3].roll;
y_meas(22,0) = request.otherCrazyflies[3].pitch;
yaw = request.otherCrazyflies[3].yaw;
......@@ -741,12 +741,16 @@ void get_y_from_CFData_withLoad( Controller::Request &request )
ROS_INFO_STREAM("[STUDENT CONTROLLER] x-error for copter1 = " << y_to_controller(3,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] y-error for copter1 = " << y_to_controller(4,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] z-error for copter1 = " << y_to_controller(5,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] x-error for copter2 = " << y_to_controller(11,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] y-error for copter2 = " << y_to_controller(12,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] z-error for copter2 = " << y_to_controller(13,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] x-error for copter3 = " << y_to_controller(19,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] y-error for copter3 = " << y_to_controller(20,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] z-error for copter3 = " << y_to_controller(21,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] x-error for copter2 = " << y_to_controller(9,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] y-error for copter2 = " << y_to_controller(10,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] z-error for copter2 = " << y_to_controller(11,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] x-error for copter3 = " << y_to_controller(15,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] y-error for copter3 = " << y_to_controller(16,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] z-error for copter3 = " << y_to_controller(17,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] x-error for load = " << y_to_controller(18,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] y-error for load = " << y_to_controller(19,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] z-error for load = " << y_to_controller(20,0) );
ROS_INFO_STREAM("[STUDENT CONTROLLER] y_to_controller^T = " << y_to_controller.transpose() );
}
......
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