swangnice/rotor_py_control
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spencerfolk
2024-07-29 16:24:52 -04:00
parent e7da009fa1
commit 63aeb119ad
1 changed files with 0 additions and 2 deletions
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rotorpy/vehicles/multirotor.py
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@@ -399,8 +399,6 @@ class Multirotor(object):
# Angular control; vector units of N*m. # 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']) 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: else:
raise ValueError("Invalid control abstraction selected. Options are: cmd_motor_speeds, cmd_motor_thrusts, cmd_ctbm, cmd_ctbr, cmd_ctatt, cmd_vel") raise ValueError("Invalid control abstraction selected. Options are: cmd_motor_speeds, cmd_motor_thrusts, cmd_ctbm, cmd_ctbr, cmd_ctatt, cmd_vel")