Commit a9cf1177 authored by Tobias's avatar Tobias
Browse files

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

parent 17c8e704
......@@ -429,7 +429,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
// compute centralized controller commands
centralized_control_command( request, response );
float delta_z_load_current = request.otherCrazyflies[3].z - load_setpoint[2];
gravity_force_copterloadsystem -= 0.01*delta_z_load_current;
gravity_force_copterloadsystem -= 0.0001*delta_z_load_current;
// compute agent's lqr command for the setpoint
//agent_lqr_command( request , response );
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