forked from Archive/PX4-Autopilot
re-add hardcoded parameters for euroc
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@ -46,6 +46,35 @@
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using namespace std;
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#endif
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MulticopterAttitudeControlSim::MulticopterAttitudeControlSim()
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{
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/* setup standard gains */
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//XXX: make these configurable
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_params.att_p(0) = 5.0;
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_params.rate_p(0) = 0.05;
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_params.rate_i(0) = 0.0;
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_params.rate_d(0) = 0.003;
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/* pitch gains */
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_params.att_p(1) = 5.0;
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_params.rate_p(1) = 0.05;
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_params.rate_i(1) = 0.0;
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_params.rate_d(1) = 0.003;
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/* yaw gains */
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_params.att_p(2) = 2.8;
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_params.rate_p(2) = 0.2;
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_params.rate_i(2) = 0.1;
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_params.rate_d(2) = 0.0;
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_params.yaw_rate_max = 0.5;
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_params.yaw_ff = 0.5;
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_params.man_roll_max = 0.6;
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_params.man_pitch_max = 0.6;
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_params.man_yaw_max = 0.6;
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}
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MulticopterAttitudeControlSim::~MulticopterAttitudeControlSim()
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{
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}
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void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude)
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{
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math::Quaternion quat;
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