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Commit d9ebb43f authored by Tobias's avatar Tobias
Browse files

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

parent 462f816d
......@@ -558,10 +558,10 @@ void centralized_control_command( Controller::Request &request, Controller::Resp
response.controlOutput.roll = outRoll;
response.controlOutput.pitch = outPitch;
response.controlOutput.yaw = outYaw;
response.controlOutput.motorCmd1 = computeMotorPolyBackward(thrustSum/4 + gravity_force_copterloadsystem);
response.controlOutput.motorCmd2 = computeMotorPolyBackward(thrustSum/4 + gravity_force_copterloadsystem);
response.controlOutput.motorCmd3 = computeMotorPolyBackward(thrustSum/4 + gravity_force_copterloadsystem);
response.controlOutput.motorCmd4 = computeMotorPolyBackward(thrustSum/4 + gravity_force_copterloadsystem);
response.controlOutput.motorCmd1 = computeMotorPolyBackward(thrustSum + gravity_force_copterloadsystem);
response.controlOutput.motorCmd2 = computeMotorPolyBackward(thrustSum + gravity_force_copterloadsystem);
response.controlOutput.motorCmd3 = computeMotorPolyBackward(thrustSum + gravity_force_copterloadsystem);
response.controlOutput.motorCmd4 = computeMotorPolyBackward(thrustSum + gravity_force_copterloadsystem);
// choosing the Crazyflie onBoard controller type.
// it can either be Motor, Rate or Angle based
......
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