From e4311ca9753206cf41a63718fb66266551ff1e20 Mon Sep 17 00:00:00 2001
From: Angel <roangel@student.ethz.ch>
Date: Thu, 2 Nov 2017 18:48:25 +0100
Subject: [PATCH] some more changes and details
---
pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp | 2 --
pps_ws/src/d_fall_pps/param/SafeController.yaml | 6 +++---
pps_ws/src/d_fall_pps/src/CustomControllerService.cpp | 2 +-
3 files changed, 4 insertions(+), 6 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
index 24c01a5e..28013274 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
@@ -314,13 +314,11 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
QString qstr = "";
qstr.append(QString::number(battery_voltage, 'f', 2));
qstr.append(" V");
- ROS_INFO_STREAM("battery voltage " << battery_voltage);
ui->voltage_field->setText(qstr);
}
void MainWindow::CFBatteryCallback(const std_msgs::Float32& msg)
{
- ROS_INFO("callback CFBattery received in GUI");
updateBatteryVoltage(msg.data);
}
diff --git a/pps_ws/src/d_fall_pps/param/SafeController.yaml b/pps_ws/src/d_fall_pps/param/SafeController.yaml
index 056562a7..8ca8d0d0 100644
--- a/pps_ws/src/d_fall_pps/param/SafeController.yaml
+++ b/pps_ws/src/d_fall_pps/param/SafeController.yaml
@@ -19,9 +19,9 @@ defaultSetpoint: [0.0, 0.0, 0.4, 0.0]
#take off and landing parameters (in meters and seconds)
takeOffDistance : 0.4
-landingDistance : 0.1
-durationTakeOff : 3
-durationLanding : 3
+landingDistance : 0.05
+durationTakeOff : 1.5
+durationLanding : 1.5
# Liner Trayectory following parameters
distanceThreshold : 0.5
diff --git a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
index b7806699..774a3085 100644
--- a/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/CustomControllerService.cpp
@@ -121,7 +121,7 @@ float computeMotorPolyBackward(float thrust) {
//-est- is an array with the estimated values : x,y,z,vx,vy,vz,roll,pitch,yaw
//-estBody- is an EMPTY array which will then contain the values in the body frame used by the crazyflie
//-yaw_measured- is the value that came from Vicon
-void convertIntoBodyFrame(float est[9], float (&estBody)[9], int yaw_measured)
+void convertIntoBodyFrame(float est[9], float (&estBody)[9], float yaw_measured)
{
float sinYaw = sin(yaw_measured);
float cosYaw = cos(yaw_measured);
--
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