logger1.info('Commanded RC Throttle is %f' %vidro.current_rc_channels[2]) logger1.info('Error z is %f' %error_z) #Logging for file 2 """ logger2.info('Time is %f' %current time) logger2.info('Vicon x position is %f' %controller.vidro.get_position()[0]) logger2.info('Vicon y position is %f' %controller.vidro.get_position()[1]) logger2.info('Vicon z position is %f' %controller.vidro.get_position()[2]) """ #Reset of errors after each time control loop finishes controller.I_error_alt = 0 controller.previous_time_alt = (time.time() - controller.timer) * 10 vidro.previous_error_alt = 0 #Get PID gains controller.update_gains() # Grab updated rc channel values vidro.update_mavlink() error_x = error_xy[0] error_y = error_xy[1] #print('Inner Loop') #Seq. 0: Takeoff to 1 m and (0,0) if sequence == 0: