Commit b585bf58 authored by maruggv's avatar maruggv
Browse files

update branch 'valentin'

parent ad425490
......@@ -14,7 +14,8 @@ vicon_frequency : 200
# controller_mode : 0: Basic Controller
# controller_mode : 1: Angle Controller
controller_mode : 0
# controller_mode : 2: Trajectory Controller
controller_mode : 2
......@@ -81,8 +82,7 @@ PMKF_Kinf_for_angles : [ 0.3046,11.0342]
#PMKF_Kinf_for_angles : [ 0.3277,12.9648]
# for our integrator (so far just random values)
gainIntegrator : [ 0.50, 0.50, 0.50] # [x,y,z] (in case we want to go back to old integrator concept, else TODO: delete)
gainIntegratorRate : [-0.20, 0.20, 0.20] # [roll, pitch, z]
gainIntegratorRate : [-5.00, 5.00, 5.00] # [roll, pitch, z]
gainIntegratorAngle : [-0.20, 0.20, 0.20] # [roll, pitch, z]
# The LQR Controller
......@@ -103,7 +103,11 @@ gainMatrixRollAngle : [ 0.00,-0.31, 0.00, 0.00,-0.25, 0.00]
gainMatrixPitchAngle : [ 0.31, 0.00, 0.00, 0.25, 0.00, 0.00]
#LQR: get Rates from Angle error
# LQR: get Rates from Angle error
gainMatrixRollRatefromAngle : [ 4.00, 0.00, 0.00]
gainMatrixPitchRatefromAngle : [ 0.00, 4.00, 0.00]
gainMatrixYawRatefromAngle : [ 0.00, 0.00, 2.30]
\ No newline at end of file
gainMatrixYawRatefromAngle : [ 0.00, 0.00, 2.30]
# LQR: get baseline Angle from Velocity for feedforward (roll, pitch) [-20°,20°]=[-0.34906585, 0.34906585]
gainFeedforwardAnglefromVelocity: [-0.174532925, 0.174532925]
\ No newline at end of file
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