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Commit 462f816d authored by Tobias's avatar Tobias
Browse files

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

parent 31ed3635
......@@ -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);
......@@ -1110,9 +1110,6 @@ void ControllerStateReceivedCallback(const CustomButton& commandReceived)
// Let the user know that this part of the code was triggered
ROS_INFO("[STUDENT CONTROLLER] Button 5 received in controller. ");
ROS_INFO("[STUDENT CONTROLLER] Controller State: centralized controller for copter-load system ");
augmented_state_eq(6,0) = PI/2; // cable angle theta1_eq = pi/2
augmented_state_eq(13,0) = PI/2; // cable angle theta2_eq = pi/2
augmented_state_eq(20,0) = PI/2; // cable angle theta3_eq = pi/2
controller_state = custom_button_index;
outer_loop_counter = 0;
break;
......
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