From 9fb22f309bf1020e163e5bc22ec6d8b7a0283ebc Mon Sep 17 00:00:00 2001
From: Angel <roangel@student.ethz.ch>
Date: Fri, 8 Sep 2017 17:03:35 +0200
Subject: [PATCH] debug details in CustomController
---
pps_ws/src/d_fall_pps/src/CustomControllerService.cpp | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
index a50f6eb8..0d656944 100644
--- a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
@@ -160,6 +160,10 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
response.controlOutput.pitch = outPitch;
response.controlOutput.yaw = outYaw;
+ ROS_INFO_STREAM("controlOutput.roll = " << response.controlOutput.roll);
+ ROS_INFO_STREAM("controlOutput.pitch = " << response.controlOutput.pitch);
+ ROS_INFO_STREAM("controlOutput.yaw = " << response.controlOutput.yaw);
+
response.controlOutput.motorCmd1 = computeMotorPolyBackward(thrustIntermediate + gravity_force);
response.controlOutput.motorCmd2 = computeMotorPolyBackward(thrustIntermediate + gravity_force);
response.controlOutput.motorCmd3 = computeMotorPolyBackward(thrustIntermediate + gravity_force);
--
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