diff options
Diffstat (limited to 'uav_ctrl_nominal.m')
| -rw-r--r-- | uav_ctrl_nominal.m | 11 |
1 files changed, 6 insertions, 5 deletions
diff --git a/uav_ctrl_nominal.m b/uav_ctrl_nominal.m index d46a1ef..1030233 100644 --- a/uav_ctrl_nominal.m +++ b/uav_ctrl_nominal.m @@ -9,13 +9,13 @@ function [ctrl] = uav_ctrl_nominal(params, model) % Define penalties according to following priorities -q_pos = 10; % penalty on position -q_vel = 1; % penalty on linear velocity +q_pos = 1; % penalty on position +q_vel = 10; % penalty on linear velocity q_ang = 100; % high penalty on angles -q_rate = 1000; % very high penalty on angular velocities +q_rate = 100; % very high penalty on angular velocities r_ang = 1; % flap movement is cheap -r_thrust = 10; % thrust is more expensive on the battery +r_thrust = 100; % thrust is more expensive on the battery nx = model.linear.Nx; nu = model.linear.Nu; @@ -34,4 +34,5 @@ N = zeros(nx, nu); % no cross terms ctrl = struct(); ctrl.K = K; -end
\ No newline at end of file +end +% vim: ts=2 sw=2 et: |