#Constants pitch_P pitch_I pitch_D #PIDValues 1900 0 409 #Constants roll_P roll_I roll_D #PIDValues 1900 0 409 #Orientation: OptiTrack-VRPN #Position: OptiTrack-VRPN #Direction: OptiTrack-VRPN #Communication: 6-Channel Trainer %Time Motor_1 Motor_2 Motor_3 Motor_4 Pitch Pitch_err Pitch_pid_p Pitch_pid_d Roll Roll_err Roll_pid_p Roll_pid_d Yaw qx qy qz qw &sec %thrust %thrust %thrust %thrust degrees degrees degrees degrees degrees degrees degrees degrees degrees val val val val 0.000000 0 1300 1300 0 -70.274537 110.266991 3656.591901 787128.732663 3.211985 -3.211985 -106.513447 -22928.398073 -0.013742 0.022850 -0.575314 0.016032 0.817456 0.009998 0 1300 1300 0 -70.289314 110.281768 3657.081910 71579.767689 3.345764 -3.345764 -110.949748 -2171.610511 -0.153569 0.023100 -0.575429 0.015709 0.817375 0.019967 0 1300 1300 351 -70.208934 110.201388 3654.416407 6473.332408 3.262608 -3.262608 -108.192181 -143.860681 -0.104210 0.022767 -0.574857 0.015627 0.817788 0.029999 0 1274 1300 533 -70.283457 110.275911 3656.887680 634.998760 3.335543 -3.335543 -110.610785 -60.233595 -0.137640 0.023108 -0.575385 0.015770 0.817404 0.039999 0 1144 1300 663 -70.284388 110.276843 3656.918583 58.331924 3.331540 -3.331540 -110.478066 -2.878567 -0.132351 0.023106 -0.575391 0.015788 0.817399 0.049992 0 936 1300 871 -70.192202 110.184656 3653.861570 -54.555671 3.193062 -3.193062 -105.885941 89.660412 -0.030716 0.022642 -0.574732 0.015800 0.817876 0.059989 0 1287 1300 520 -70.280506 110.272960 3656.789838 52.359069 3.305900 -3.305900 -109.627802 -65.092699 -0.103849 0.023067 -0.575362 0.015862 0.817420 0.069992 0 1014 1300 793 -70.192930 110.185384 3653.885697 -52.058129 3.207658 -3.207658 -106.369983 57.820201 -0.043584 0.022681 -0.574738 0.015781 0.817871 0.079991 0 1300 1300 507 -70.282666 110.275120 3656.861458 53.506102 3.331386 -3.331386 -110.472945 -75.042854 -0.133559 0.023099 -0.575379 0.015779 0.817408 0.090093 0 1209 1300 598 -70.288052 110.280506 3657.040074 8.282792 3.366251 -3.366251 -111.629113 -29.177015 -0.174025 0.023144 -0.575421 0.015666 0.817380 0.100103 0 910 1300 897 -70.276839 110.269294 3656.668248 -6.517502 3.203051 -3.203051 -106.217183 103.161854 -0.008008 0.022815 -0.575330 0.016029 0.817446 0.110099 0 1300 1300 312 -70.259609 110.252063 3656.096875 -11.778193 3.462131 -3.462131 -114.808625 -158.808572 -0.273548 0.023333 -0.575225 0.015431 0.817516 0.120045 0 1183 1300 624 -70.261350 110.253804 3656.154586 0.058903 3.464321 -3.464321 -114.881220 -15.936017 -0.270747 0.023362 -0.575237 0.015463 0.817507 0.129982 0 780 1300 1027 -70.274070 110.266524 3656.576419 8.307960 3.211267 -3.211267 -106.489653 163.706624 -0.010395 0.022862 -0.575310 0.016052 0.817458 0.140047 0 1235 1300 572 -70.203391 110.195845 3654.232590 -44.847008 3.300494 -3.300494 -109.448516 -42.767977 -0.149864 0.022809 -0.574821 0.015490 0.817814 0.150098 0 1053 1300 754 -70.276348 110.268802 3656.651935 43.068405 3.234120 -3.234120 -107.247496 39.003761 -0.037145 0.022890 -0.575328 0.015977 0.817446 0.160111 0 1300 1300 312 -70.267679 110.260133 3656.364475 -1.708090 3.485360 -3.485360 -115.578903 -159.306387 -0.291495 0.023407 -0.575284 0.015422 0.817474 0.170133 0 962 1300 845 -70.291192 110.283646 3657.144183 15.072968 3.337783 -3.337783 -110.685069 81.124644 -0.142417 0.023099 -0.575441 0.015749 0.817365 0.180133 0 1300 1300 494 -70.264009 110.256463 3656.242785 -16.269522 3.461558 -3.461558 -114.789608 -72.948305 -0.264684 0.023372 -0.575255 0.015493 0.817493 0.190105 0 1183 1300 624 -70.266906 110.259360 3656.338854 0.401980 3.472742 -3.472742 -115.160472 -13.924700 -0.280616 0.023372 -0.575278 0.015436 0.817479 0.200107 0 832 1300 975 -70.195690 110.188144 3653.977222 -46.170735 3.255513 -3.255513 -107.956915 139.677857 -0.094541 0.022767 -0.574761 0.015658 0.817854 0.210104 0 1079 1300 728 -70.280572 110.273026 3656.792014 50.900269 3.235754 -3.235754 -107.301675 25.527584 -0.036085 0.022907 -0.575358 0.015993 0.817424 0.220128 0 1300 1300 286 -70.270650 110.263104 3656.463006 -1.807242 3.503228 -3.503228 -116.171441 -170.882270 -0.312114 0.023430 -0.575307 0.015365 0.817458 0.230181 0 884 1300 923 -70.204848 110.197302 3654.280913 -42.660946 3.299195 -3.299195 -109.405437 116.311334 -0.147002 0.022814 -0.574831 0.015505 0.817807 0.240093 0 988 1300 819 -70.283946 110.276400 3656.903909 47.834813 3.212988 -3.212988 -106.546701 67.053870 0.001007 0.022930 -0.575378 0.016144 0.817407 0.250098 0 1144 1300 663 -70.194050 110.186504 3653.922835 -53.964617 3.229379 -3.229379 -107.090251 -4.539079 -0.064887 0.022729 -0.574747 0.015738 0.817864 0.260117 0 1118 1300 689 -70.192291 110.184746 3653.864532 -6.036401 3.219106 -3.219106 -106.749596 6.242979 -0.059821 0.022681 -0.574735 0.015722 0.817874 0.270112 0 1300 1300 338 -70.263461 110.255915 3656.224590 45.656860 3.445165 -3.445165 -114.245999 -146.198853 -0.253121 0.023314 -0.575251 0.015493 0.817498 0.280113 0 1196 1300 611 -70.262308 110.254762 3656.186361 3.402191 3.457255 -3.457255 -114.646927 -21.134780 -0.265488 0.023338 -0.575244 0.015465 0.817503 0.290139 0 806 1300 1001 -70.279776 110.272230 3656.765637 11.617902 3.217247 -3.217247 -106.687952 153.468104 -0.026117 0.022825 -0.575353 0.015971 0.817431 0.300119 0 1300 1300 338 -70.263414 110.255868 3656.223034 -9.579650 3.460111 -3.460111 -114.741634 -143.915575 -0.272579 0.023323 -0.575253 0.015429 0.817498 0.310123 0 832 1300 975 -70.196060 110.188514 3653.989489 -44.563755 3.224914 -3.224914 -106.942214 139.495843 -0.064621 0.022698 -0.574762 0.015718 0.817855 0.320154 0 1287 1300 520 -70.280922 110.273376 3656.803617 50.876110 3.344476 -3.344476 -110.907030 -64.725145 -0.152203 0.023099 -0.575369 0.015711 0.817417 0.330110 0 1144 1300 663 -70.285181 110.277635 3656.944876 7.419132 3.332749 -3.332749 -110.518152 1.732926 -0.141414 0.023069 -0.575399 0.015730 0.817396 0.340118 0 1157 1300 650 -70.286779 110.279233 3656.997863 1.710145 3.346140 -3.346140 -110.962205 -8.526089 -0.152276 0.023110 -0.575410 0.015720 0.817387 0.350108 0 1014 1300 793 -70.232797 110.225251 3655.207758 -34.907519 3.260548 -3.260548 -108.123860 54.819388 -0.077172 0.022884 -0.575022 0.015815 0.817665 0.360112 0 1222 1300 585 -70.285026 110.277480 3656.939716 30.708774 3.321154 -3.321154 -110.133645 -34.334186 -0.125673 0.023065 -0.575396 0.015784 0.817397 0.370132 0 1183 1300 624 -70.291273 110.283728 3657.146900 6.833742 3.346102 -3.346102 -110.960945 -19.275995 -0.156497 0.023088 -0.575443 0.015691 0.817365 0.380217 0 1300 1300 494 -70.262491 110.254945 3656.192441 -17.918468 3.461091 -3.461091 -114.774136 -75.788504 -0.271791 0.023334 -0.575246 0.015439 0.817502 0.390105 0 793 1300 1014 -70.191907 110.184361 3653.851779 -47.922178 3.209137 -3.209137 -106.419025 158.225487 -0.045811 0.022681 -0.574731 0.015772 0.817876 0.400135 0 1300 1300 351 -70.258079 110.250533 3656.046127 38.480512 3.445364 -3.445364 -114.252581 -138.535856 -0.251293 0.023325 -0.575212 0.015505 0.817524 0.410216 0 1196 1300 611 -70.259512 110.251966 3656.093656 4.395971 3.454076 -3.454076 -114.541511 -18.114954 -0.260710 0.023340 -0.575223 0.015482 0.817517 0.420115 0 1131 1300 676 -70.262268 110.254722 3656.185040 2.208244 3.438234 -3.438234 -114.016160 8.713983 -0.241030 0.023325 -0.575241 0.015544 0.817504 0.430104 0 1066 1300 741 -70.294806 110.287260 3657.264048 21.337597 3.385135 -3.385135 -112.255339 35.285649 -0.195701 0.023169 -0.575471 0.015608 0.817345 0.440108 0 1118 1300 689 -70.293062 110.285516 3657.206198 0.807398 3.371320 -3.371320 -111.797204 12.168764 -0.176011 0.023169 -0.575457 0.015679 0.817354 0.450103 0 1131 1300 676 -70.292308 110.284762 3657.181213 -0.415727 3.366825 -3.366825 -111.648160 4.024782 -0.173512 0.023150 -0.575451 0.015674 0.817358 0.460202 0 1300 1300 507 -70.268453 110.260907 3656.390153 -15.379928 3.473457 -3.473457 -115.184189 -68.218024 -0.281153 0.023374 -0.575289 0.015436 0.817471 0.470113 0 1014 1300 793 -70.292408 110.284862 3657.184512 14.262326 3.369077 -3.369077 -111.722814 62.037245 -0.171863 0.023174 -0.575451 0.015697 0.817357 0.480127 0 923 1300 884 -70.281215 110.273669 3656.813358 -5.959081 3.226508 -3.226508 -106.995045 98.034472 -0.029283 0.022875 -0.575363 0.015995 0.817422 0.490227 0 1300 1300 507 -70.291839 110.284293 3657.165654 6.295242 3.348683 -3.348683 -111.046543 -69.739070 -0.153055 0.023123 -0.575446 0.015728 0.817361 0.500215 0 1196 1300 611 -70.297959 110.290413 3657.368589 4.548567 3.374350 -3.374350 -111.897688 -23.021413 -0.178596 0.023177 -0.575492 0.015676 0.817329 0.510115 0 923 1300 884 -70.286162 110.278616 3656.977396 -7.308327 3.221782 -3.221782 -106.838328 97.804815 -0.010261 0.022936 -0.575395 0.016108 0.817395 0.520109 0 1300 1300 481 -70.297023 110.289477 3657.337572 6.387506 3.367131 -3.367131 -111.658307 -85.479274 -0.176384 0.023137 -0.575486 0.015656 0.817335 0.530227 0 1300 1300 494 -70.265949 110.258404 3656.307123 -19.376699 3.472028 -3.472028 -115.136803 -75.037887 -0.276926 0.023385 -0.575270 0.015458 0.817483 0.540234 0 767 1300 1040 -70.280846 110.273300 3656.801121 7.900689 3.201308 -3.201308 -106.159392 168.753319 -0.005520 0.022814 -0.575359 0.016038 0.817425 0.550117 0 1300 1300 325 -70.258878 110.251332 3656.072618 -13.683664 3.454410 -3.454410 -114.552583 -150.509169 -0.259059 0.023350 -0.575218 0.015496 0.817520 0.560225 0 1183 1300 624 -70.261589 110.254043 3656.162512 0.510204 3.454486 -3.454486 -114.555085 -13.598109 -0.261888 0.023336 -0.575238 0.015476 0.817506 0.570228 0 806 1300 1001 -70.192086 110.184541 3653.857733 -45.044435 3.218724 -3.218724 -106.736920 151.719060 -0.058145 0.022687 -0.574734 0.015732 0.817875 0.580244 0 1196 1300 611 -70.200454 110.192908 3654.135201 1.333002 3.282943 -3.282943 -108.866503 -27.841484 -0.131525 0.022776 -0.574799 0.015533 0.817830 0.590210 0 1209 1300 598 -70.284483 110.276937 3656.921731 54.821269 3.326115 -3.326115 -110.298158 -30.642364 -0.132553 0.023066 -0.575393 0.015760 0.817400 0.600224 0 1001 1300 806 -70.192412 110.184867 3653.868545 -54.695578 3.225855 -3.225855 -106.973399 62.198652 -0.063340 0.022712 -0.574736 0.015731 0.817872 0.610193 0 1287 1300 520 -70.285438 110.277892 3656.953385 55.552637 3.338324 -3.338324 -110.703026 -67.522352 -0.151267 0.023059 -0.575402 0.015688 0.817395 0.620158 0 1157 1300 650 -70.285796 110.278250 3656.965243 5.299152 3.339268 -3.339268 -110.734332 -6.772597 -0.147403 0.023085 -0.575403 0.015720 0.817393 0.630222 0 1300 1300 507 -70.259107 110.251561 3656.080209 -16.740418 3.440466 -3.440466 -114.090165 -65.903805 -0.248826 0.023302 -0.575220 0.015499 0.817520 0.640257 0 845 1300 962 -70.193720 110.186174 3653.911896 -43.814997 3.223987 -3.223987 -106.911454 134.065090 -0.064459 0.022693 -0.574746 0.015714 0.817866 0.650212 0 1274 1300 533 -70.282470 110.274924 3656.854949 53.830769 3.338211 -3.338211 -110.699268 -62.191850 -0.145984 0.023085 -0.575380 0.015724 0.817409 0.660217 0 962 1300 845 -70.191686 110.184140 3653.844460 -53.995166 3.208914 -3.208914 -106.411605 78.217530 -0.044776 0.022684 -0.574729 0.015779 0.817877 0.670215 0 1170 1300 637 -70.196184 110.188638 3653.993620 -1.990040 3.244054 -3.244054 -107.576913 -15.696524 -0.080046 0.022758 -0.574764 0.015704 0.817852 0.680236 0 1196 1300 611 -70.202705 110.195159 3654.209865 4.043147 3.280909 -3.280909 -108.799079 -25.295681 -0.125106 0.022794 -0.574814 0.015569 0.817818 0.690216 0 1118 1300 689 -70.228932 110.221387 3655.079593 17.419270 3.265506 -3.265506 -108.288296 7.710103 -0.075887 0.022927 -0.574994 0.015848 0.817683 0.700230 0 1157 1300 650 -70.232636 110.225090 3655.202418 3.982105 3.274925 -3.274925 -108.600618 -5.404141 -0.085541 0.022945 -0.575021 0.015827 0.817664 0.710205 0 1066 1300 741 -70.198175 110.190629 3654.059639 -22.051583 3.227340 -3.227340 -107.022633 30.458122 -0.061785 0.022730 -0.574777 0.015751 0.817843 0.720248 0 1300 1300 468 -70.293110 110.285564 3657.207794 59.370669 3.366465 -3.366465 -111.636202 -87.174977 -0.169048 0.023169 -0.575456 0.015704 0.817353 0.730238 0 1040 1300 767 -70.235357 110.227811 3655.292640 -32.110233 3.280210 -3.280210 -108.775883 48.093382 -0.088469 0.022968 -0.575040 0.015833 0.817650 0.740254 0 1300 1300 416 -70.268741 110.261195 3656.399699 18.718123 3.460048 -3.460048 -114.739538 -112.169738 -0.266476 0.023352 -0.575289 0.015473 0.817470 0.750219 0 1053 1300 754 -70.295211 110.287665 3657.277485 18.939631 3.377864 -3.377864 -112.014198 43.273656 -0.182767 0.023182 -0.575472 0.015664 0.817343 0.760223 0 975 1300 832 -70.228664 110.221118 3655.070679 -41.448960 3.265539 -3.265539 -108.289372 76.798561 -0.076762 0.022923 -0.574992 0.015842 0.817685 0.770223 0 1300 1300 338 -70.265378 110.257833 3656.288188 20.057796 3.497968 -3.497968 -115.997027 -143.852322 -0.305379 0.023428 -0.575268 0.015385 0.817484 0.780230 0 858 1300 949 -70.232475 110.224929 3655.197075 -19.516532 3.281600 -3.281600 -108.821966 127.253018 -0.097172 0.022934 -0.575021 0.015778 0.817665 0.790230 0 1274 1300 533 -70.292599 110.285053 3657.190860 37.242891 3.389294 -3.389294 -112.393251 -58.319378 -0.192561 0.023214 -0.575454 0.015651 0.817355 0.800216 0 910 1300 897 -70.281438 110.273892 3656.820756 -3.861904 3.225115 -3.225115 -106.948880 101.370218 -0.031128 0.022856 -0.575365 0.015975 0.817421 0.810236 0 1287 1300 520 -70.293716 110.286170 3657.227900 7.602648 3.340421 -3.340421 -110.772552 -65.492333 -0.143646 0.023111 -0.575459 0.015754 0.817352 0.820215 0 1183 1300 624 -70.285334 110.277788 3656.949946 -4.757316 3.356281 -3.356281 -111.298494 -16.277291 -0.156518 0.023161 -0.575400 0.015740 0.817393 0.830224 0 1287 1300 520 -70.260049 110.252503 3656.111469 -16.827196 3.451073 -3.451073 -114.441914 -62.943027 -0.255585 0.023344 -0.575226 0.015504 0.817514 0.840224 0 1196 1300 611 -70.259100 110.251554 3656.079982 -2.145917 3.468938 -3.468938 -115.034326 -17.315236 -0.284043 0.023329 -0.575223 0.015390 0.817519 0.850220 0 832 1300 975 -70.227230 110.219684 3655.023140 -20.884411 3.250753 -3.250753 -107.799064 140.066415 -0.064663 0.022878 -0.574981 0.015854 0.817693 0.860342 0 1300 1300 442 -70.257176 110.249630 3656.016185 17.342348 3.426855 -3.426855 -113.638824 -100.433265 -0.229711 0.023301 -0.575204 0.015566 0.817530 0.870229 0 1053 1300 754 -70.289055 110.281509 3657.073332 22.495373 3.346110 -3.346110 -110.961209 43.718070 -0.155248 0.023094 -0.575427 0.015699 0.817376 0.880346 0 949 1300 858 -70.193688 110.186142 3653.910830 -59.213345 3.218027 -3.218027 -106.713804 86.176823 -0.051459 0.022716 -0.574744 0.015777 0.817866 0.890207 0 1274 1300 533 -70.284993 110.277447 3656.938637 54.558691 3.320779 -3.320779 -110.121210 -59.599671 -0.124781 0.023067 -0.575396 0.015788 0.817397 0.900342 0 1053 1300 754 -70.200048 110.192502 3654.121749 -49.556675 3.254910 -3.254910 -107.936897 36.874933 -0.103953 0.022715 -0.574794 0.015589 0.817834 0.910283 0 1300 1300 377 -70.258769 110.251223 3656.069011 33.782749 3.455734 -3.455734 -114.596468 -127.656091 -0.265430 0.023328 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1118 71.432966 -31.440512 -1042.606870 218.641701 -7.062628 7.062628 234.205623 -138.280596 -12.188026 0.012129 0.584683 -0.050276 0.809612 7.832451 1300 0 0 1300 71.157804 -31.165350 -1033.482156 197.472088 -8.061733 8.061733 267.337181 632.687116 -13.266365 0.010253 0.583103 -0.053091 0.810597 7.842413 1300 1300 0 0 70.946334 -30.953879 -1026.469513 155.723027 -6.166560 6.166560 204.490860 -1176.410381 -11.350278 0.013715 0.580973 -0.049356 0.812309 7.852486 1300 572 0 1235 70.640923 -30.648469 -1016.341723 210.951235 -6.245402 6.245402 207.105365 -55.414402 -11.409561 0.013157 0.578850 -0.049647 0.813815 7.862365 1300 0 0 1300 70.452154 -30.459700 -1010.081890 143.254221 -6.640662 6.640662 220.212696 254.261516 -11.905269 0.012660 0.577638 -0.051346 0.814578 7.872471 1300 1248 0 559 70.158271 -30.165817 -1000.336382 201.792095 -6.049136 6.049136 200.596936 -357.310363 -11.260506 0.013333 0.575374 -0.049998 0.816252 7.882388 1300 559 0 1248 69.816613 -29.824159 -989.006561 241.887441 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0.015840 0.556416 -0.046815 0.829433 7.952397 1300 0 0 1300 67.169929 -27.177475 -901.239205 299.428903 -4.597566 4.597566 152.461072 436.030180 -9.903676 0.014420 0.553549 -0.049746 0.831204 7.962419 1300 1300 0 143 66.812978 -26.820524 -889.402249 258.345986 -3.803725 3.803725 126.136285 -474.571460 -9.077087 0.015925 0.550739 -0.047805 0.833155 7.972470 1300 689 0 1118 66.453540 -26.461086 -877.482829 255.556776 -3.825762 3.825762 126.867064 -28.708861 -9.091902 0.015571 0.548139 -0.048030 0.834862 7.982407 1300 559 0 1248 66.139873 -26.147419 -867.081259 228.091043 -3.880133 3.880133 128.670075 32.862115 -9.141354 0.015179 0.545876 -0.048327 0.836333 7.992433 1300 715 0 1092 65.818100 -25.825646 -856.410859 229.007337 -3.812466 3.812466 126.426162 -40.828003 -9.029336 0.014903 0.543520 -0.048030 0.837889 8.002492 1300 1027 0 780 65.324335 -25.331881 -840.036972 339.425083 -3.545705 3.545705 117.580031 -175.881555 -8.697639 0.014934 0.539848 -0.047159 0.840308 8.012461 1300 286 0 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