some more changes and details

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);
 }
 

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

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);