Hard coded params for now

Author: ratheron

drone_estimators/ros_nodes/estimators.toml

@@ -11,9 +11,9 @@ integrator = "euler" # TODO add RK4
 jit_compile = false  # TODO add jit compilation for faster estimators
 
 [estimator1]
-estimator_type = "ukf"
+estimator_type = "legacy"
 drone_name = "cf52"
-drone_config = "cf2x_L250"
+drone_config = "cf2x_B500"
 dynamics_model = "so_rpy_rotor_drag_dynamics"
 estimate_rotor_vel = true
 estimate_dist_f = true

drone_estimators/ros_nodes/ros2_node.py

@@ -232,8 +232,8 @@ def run(self):
                     # All the models run with rad and N, so we need to convert the RPYT command
                     cmd[..., -1] = pwm2force(
                         cmd[..., -1],
-                        self.estimator.constants.THRUST_MAX * 4,
-                        self.estimator.constants.PWM_MAX,
+                        0.18 * 4,  # TODO remove hard coded value
+                        65535,  # TODO remove hard coded value
                     )
                     cmd[..., :-1] = np.deg2rad(cmd[..., :-1])
                     self.estimator.set_input(cmd)  # TODO # compare times?