From 8ec124b463d93a6f14cade50f6ac8eff1c197900 Mon Sep 17 00:00:00 2001
From: bucyril <bucyril@ethz.ch>
Date: Tue, 23 May 2017 16:04:46 +0200
Subject: [PATCH] =?UTF-8?q?ads=C3=B6lfj?=
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---
.../src/d_fall_pps/src/CircleControllerService.cpp | 14 ++++++++++----
1 file changed, 10 insertions(+), 4 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/src/CircleControllerService.cpp b/pps_ws/src/d_fall_pps/src/CircleControllerService.cpp
index cfa437bc..9394205c 100755
--- a/pps_ws/src/d_fall_pps/src/CircleControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CircleControllerService.cpp
@@ -52,8 +52,8 @@ CrazyflieData previousLocation;
//circle stuff
float currentTime;
-const float OMEGA = 0.5*2*PI;
-const float RADIUS = 0.35;
+const float OMEGA = 0.25*2*PI;
+const float RADIUS = 0.25;
//point publisher for FollowCrazyflieService
ros::Publisher followPublisher;
@@ -146,7 +146,7 @@ void convertIntoBodyFrame(float est[9], float (&state)[9], float yaw_measured) {
void calculateCircle(Setpoint &circlePoint){
circlePoint.x = RADIUS*cos(OMEGA*currentTime);
circlePoint.y = RADIUS*sin(OMEGA*currentTime);
- circlePoint.z = 0.5;
+ circlePoint.z = 0;
circlePoint.yaw = OMEGA*currentTime;
}
@@ -207,7 +207,13 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
previousLocation = request.ownCrazyflie;
- followPublisher.publish(previousLocation);
+ Setpoint pubSetpoint;
+ pubSetpoint.x = previousLocation.x;
+ pubSetpoint.y = previousLocation.y;
+ pubSetpoint.z = previousLocation.z;
+ pubSetpoint.yaw = previousLocation.yaw;
+
+ followPublisher.publish(pubSetpoint);
return true;
}
--
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