Commit 0ec8258c authored by bucyril's avatar bucyril
Browse files

blabliblablu

parent f28e28bf
safeController: "SafeControllerService/RateController"
customController: "FollowCrazyflieService/FollowController"
customController: "CircleControllerService/CircleController"
......@@ -144,10 +144,10 @@ void convertIntoBodyFrame(float est[9], float (&state)[9], float yaw_measured) {
}
void calculateCircle(Setpoint &circlePoint){
circlePoint.x = RADIUS*cos(OMEGA*currentTime);
circlePoint.x = 0;
circlePoint.y = RADIUS*sin(OMEGA*currentTime);
circlePoint.z = 0;
circlePoint.yaw = OMEGA*currentTime;
circlePoint.z = RADIUS*cos(OMEGA*currentTime);
circlePoint.yaw = 0;//OMEGA*currentTime;
}
......
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