Commit dd70a51c authored by Tobias's avatar Tobias
Browse files

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

parent 41016aea
......@@ -397,7 +397,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
}
case 5:
{
float delta_z_load_current = request.otherCrazyflies[3].z - takeOffDistance_load;
float delta_z_load_current = request.otherCrazyflies[3].z - load_setpoint[2];
// --------------------------------------
// Centralized LQG controller copter and load
// --------------------------------------
......
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