Commit e42fe276 authored by roangel's avatar roangel
Browse files

Merge branch 'MPC_dev' into demo_controller

parents 7f2cfd6a 63b76b44
......@@ -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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