Commit 63b76b44 authored by roangel's avatar roangel
Browse files

System prepared to start developing MPC controller. Included estimation part...

System prepared to start developing MPC controller. Included estimation part and crazyflie_angle_mode part. Need to clean a bit and test it in the real system, but it should work
parent 4acd04e2
......@@ -5,4 +5,20 @@ mass : 27
control_frequency : 200
# Quadratic motor regression equation (a0, a1, a2)
motorPoly : [5.484560e-4, 1.032633e-6, 2.130295e-11]
\ No newline at end of file
motorPoly : [5.484560e-4, 1.032633e-6, 2.130295e-11]
gainMatrixRollRate_Nested : [ 4.00, 0.00, 0.00]
gainMatrixPitchRate_Nested : [ 0.00, 4.00, 0.00]
gainMatrixYawRate_Nested : [ 0.00, 0.00, 2.30]
# THE POINT MASS KALMAN FILTER (PMKF) GAINS AND ERROR EVOLUATION
# > For the (x,y,z) position
PMKF_Ahat_row1_for_positions : [ 0.6723, 0.0034]
PMKF_Ahat_row2_for_positions : [-12.9648, 0.9352]
PMKF_Kinf_for_positions : [ 0.3277,12.9648]
# > For the (roll,pitch,yaw) angles
PMKF_Ahat_row1_for_angles : [ 0.6954, 0.0035]
PMKF_Ahat_row2_for_angles : [-11.0342, 0.9448]
PMKF_Kinf_for_angles : [ 0.3046,11.0342]
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