Commit 41016aea authored by Tobias's avatar Tobias
Browse files

z-integrator after copters take-off

parent 10b917d0
......@@ -10,7 +10,7 @@ motorPoly : [5.484560e-4, 1.032633e-6, 2.130295e-11]
#take off and landing parameters (in meters and seconds)
takeOffinitial : 0.05
takeOffDistance : 0.3
takeOffDistance : 0.6
landingDistance : 0.1
durationTakeOff : 2.0
durationLanding : 2.0
......
......@@ -397,6 +397,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
}
case 5:
{
float delta_z_load_current = request.otherCrazyflies[3].z - takeOffDistance_load;
// --------------------------------------
// Centralized LQG controller copter and load
// --------------------------------------
......@@ -427,7 +428,7 @@ 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;
// compute agent's lqr command for the setpoint
//agent_lqr_command( request , response );
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment