blabliblablu

pps_ws/src/d_fall_pps/param/ClientConfig.yaml

 safeController: "SafeControllerService/RateController"
-customController: "FollowCrazyflieService/FollowController"
+customController: "CircleControllerService/CircleController"
 

pps_ws/src/d_fall_pps/src/CircleControllerService.cpp

@@ -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;
 
 }