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[INDI] flexible priorities for WLS allocation (#2200)

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* [INDI] flexible priorities for WLS allocation

* [INDI] du_pref was not used

Moved WLS specific variables du_min and du_max within the else
This commit is contained in:
Ewoud Smeur
2017-12-01 16:04:16 +01:00
committed by Kirk Scheper
parent 0adf61c4b0
commit dab1bf2fcf
2 changed files with 18 additions and 11 deletions
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conf/airframes/tudelft/bebop_indi_actuators.xml
+3
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@@ -134,6 +134,9 @@
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="TRUE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
<!--Priority for each axis (roll, pitch, yaw and thrust)-->
<define name="WLS_PRIORITIES" value="{1000, 1000, 1, 100}"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">