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fixed merge origin/master conflict
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Kaneko committed Dec 21, 2023
1 parent b7ba8f4 commit 822c769
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Showing 2 changed files with 2 additions and 2 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -46,7 +46,7 @@ namespace aerial_robot_control
vel_(0,0,0), target_vel_(0,0,0),
rpy_(0,0,0), target_rpy_(0,0,0),
target_acc_(0,0,0),
target_acc_ang_(0,0,0),
target_ang_acc_(0,0,0),
start_rp_integration_(false)
{
pid_msg_.x.total.resize(1);
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2 changes: 1 addition & 1 deletion robots/hydrus/src/hydrus_tilted_lqi_controller.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -374,7 +374,7 @@ void HydrusTiltedLQIController::controlCore()
target_acc_.setX(des_acc[0]+feedforward_term_[0]);
target_acc_.setY(des_acc[1]+feedforward_term_[1]);
//target_acc_.setZ(des_acc[2]+feedforward_term_[2]);
target_acc_ang_.setZ(des_acc_ang[2]+feedforward_term_[5]);
target_ang_acc_.setZ(des_acc_ang[2]+feedforward_term_[5]);
target_wrench_acc_cog[0] += des_acc[0]+feedforward_term_[0];
target_wrench_acc_cog[1] += des_acc[1]+feedforward_term_[1];
target_wrench_acc_cog[5] += des_acc_ang[2]+feedforward_term_[5];
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