From 0c8703ac7362f3815b2917c372cc09ddafed7d11 Mon Sep 17 00:00:00 2001
From: bpmcgeeney <bpmcgeeney@gmail.com>
Date: Sun, 12 Sep 2021 14:23:35 -0700
Subject: [PATCH] commenting

---
 src/sim.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/sim.cpp b/src/sim.cpp
index eb93056..0d706fe 100644
--- a/src/sim.cpp
+++ b/src/sim.cpp
@@ -198,6 +198,7 @@ void lqrCalc(struct sVars &Vars)
 
     */
 
+    // Paste in Values from gainCalc.m
     double K11 = 39.54316;
     double K12 = 0.00000;
     double K13 = -0.00000;
@@ -217,7 +218,7 @@ void lqrCalc(struct sVars &Vars)
     double K35 = 0.00000;
     double K36 = 39.54394;
 
-    double gain = 0.25 * pow(10, -4);
+    double gain = 0.25 * pow(10, -4); // changing exponenet drastically changes results of LQR
 
     // Matrix Multiply K with [YPR/2; w123] column vector and divide by moment arm
     Vars.LQRx = gain * ((K12 * Vars.pitch) / 2 + K15 * Vars.pitchdot + (K13 * Vars.roll) / 2 + K16 * Vars.rolldot + (K11 * Vars.yaw) / 2 + K14 * Vars.yawdot) / -Vars.momentArm;