Merge branch 'master' into feature/kalman_filter

gsilano · Jun 11, 2018 · 726614a · 726614a
2 parents 4c9315d + 25a4710
commit 726614a
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diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,7 +2,6 @@
 Changelog for package teamsannio_med_control
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-
 0.1.4 (2018-06-11)
 ------------------
 * added the Kalman filter
@@ -12,7 +11,7 @@ Changelog for package teamsannio_med_control
 * Contributors: Pasquale Oppido, Giuseppe Silano, Luigi Iannelli
 
 0.1.3 (2018-05-25)
-------------------
+-----------
 * added the data storage section. Such section has been inserted in the position controller node and allows to storage, in defined csv files, the aircraft and controller state.
 * bug fixing
 * the sim time has been added in the launch file. Now the position controller node uses the simulation and not wall clock time.

diff --git a/src/library/position_controller.cpp b/src/library/position_controller.cpp
@@ -336,8 +336,6 @@ void PositionController::CalculateRotorVelocities(Eigen::Vector4d* rotor_velocit
     double u_x, u_y, u_Terr;
     AttitudeController(&u_phi, &u_theta, &u_psi);
     PosController(&u_x, &u_y, &control_.thrust, &u_Terr);
-
-
 
     if(dataStoring_active_){
 	//Saving control signals in a file
@@ -590,7 +588,6 @@ void PositionController::CallbackPosition(const ros::TimerEvent& event){
      SetOdometryEstimated();
      PositionErrors(&e_x_, &e_y_, &e_z_);
      VelocityErrors(&dot_e_x_, &dot_e_y_, &dot_e_z_);
-
 
      //Saving the time instant when the position errors are computed
      if(dataStoring_active_){