From 63aeb119ad80f3d4bc3c36d6f7c9e5f0c055b8d9 Mon Sep 17 00:00:00 2001 From: spencerfolk Date: Mon, 29 Jul 2024 16:24:52 -0400 Subject: [PATCH] Oops --- rotorpy/vehicles/multirotor.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/rotorpy/vehicles/multirotor.py b/rotorpy/vehicles/multirotor.py index 6ad30b1..10200b3 100644 --- a/rotorpy/vehicles/multirotor.py +++ b/rotorpy/vehicles/multirotor.py @@ -399,8 +399,6 @@ class Multirotor(object): # Angular control; vector units of N*m. cmd_moment = self.inertia @ (-self.kp_att*att_err - self.kd_att*state['w']) + np.cross(state['w'], self.inertia@state['w']) - - print("Dumb") else: raise ValueError("Invalid control abstraction selected. Options are: cmd_motor_speeds, cmd_motor_thrusts, cmd_ctbm, cmd_ctbr, cmd_ctatt, cmd_vel")