any and all changes for sdmay23 bigquad deck

crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/controller_student.c

@@ -118,7 +118,7 @@ void controllerStudent(control_t *control, setpoint_t *setpoint, const sensorDat
     }
 
     //set desired thrust
-    thrustDesired = setpoint->thrust;
+    thrustDesired = setpoint->thrust/4;
 
 
     // Run the attitude controller with the measured attitude and desired attitude
@@ -144,6 +144,7 @@ void controllerStudent(control_t *control, setpoint_t *setpoint, const sensorDat
     if(tuning_mode == true){
       if (setpoint->mode.yaw == modeVelocity) {
         rateDesired.yaw = setpoint->attitudeRate.yaw;
+        attitudeDesired.roll = 3;
         studentAttitudeControllerResetYawAttitudePID();
       }
     }
@@ -151,9 +152,9 @@ void controllerStudent(control_t *control, setpoint_t *setpoint, const sensorDat
     //update the attitude rate PID, given the current angular rate 
     //read by the gyro and the desired rate 
     studentAttitudeControllerCorrectRatePID(sensors->gyro.x, -sensors->gyro.y, sensors->gyro.z,
-                             rateDesired.roll, rateDesired.pitch, rateDesired.yaw,
+                             rateDesired.roll, rateDesired.pitch, setpoint->attitudeRate.yaw,
                              &(control->roll), &(control->pitch), &(control->yaw));
-
+    rateDesired.yaw = setpoint->attitudeRate.yaw;
     //invert yaw control
     control->yaw = -control->yaw;
   }

crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c

@@ -134,13 +134,14 @@ void studentAttitudeControllerCorrectRatePID(
        )
 {
   studentPidSetDesired(&pidRollRate, rollRateDesired);
-  *rollCommand = saturateSignedInt16(studentPidUpdate(&pidRollRate, rollRateMeasured, true));
+  
+  *rollCommand = saturateSignedInt16(studentPidUpdate(&pidRollRate, rollRateMeasured, true)/4);
 
   studentPidSetDesired(&pidPitchRate, pitchRateDesired);
-  *pitchCommand = saturateSignedInt16(studentPidUpdate(&pidPitchRate, pitchRateMeasured, true));
+  *pitchCommand = saturateSignedInt16(studentPidUpdate(&pidPitchRate, pitchRateMeasured, true)/4);
 
   studentPidSetDesired(&pidYawRate, yawRateDesired);
-  *yawCommand = saturateSignedInt16(studentPidUpdate(&pidYawRate, yawRateMeasured, true));
+  *yawCommand = saturateSignedInt16(studentPidUpdate(&pidYawRate, yawRateMeasured, true)/4);
 }
 
 void studentAttitudeControllerResetRollAttitudePID(void)