From fcffdbb4bb05240d79de8f6fc105fb762fd252ff Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Mon, 4 Feb 2019 16:25:36 +0100
Subject: [PATCH] Fixed small error for loading yaml file for picker controller
---
.../d_fall_pps/include/nodes/PickerControllerService.h | 2 +-
pps_ws/src/d_fall_pps/param/PickerController.yaml | 2 +-
.../src/d_fall_pps/src/nodes/PickerControllerService.cpp | 8 ++++----
3 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/include/nodes/PickerControllerService.h b/pps_ws/src/d_fall_pps/include/nodes/PickerControllerService.h
index c5107230..67173f96 100644
--- a/pps_ws/src/d_fall_pps/include/nodes/PickerControllerService.h
+++ b/pps_ws/src/d_fall_pps/include/nodes/PickerControllerService.h
@@ -232,7 +232,7 @@ std::string m_namespace_to_coordinator_parameter_service;
// VARIABLES FOR THE CONTOLLER
// > the mass of the crazyflie, in [grams]
-float yaml_mass_cf_in_grams = 25.0;
+float yaml_mass_cf_in_grams = 30.0;
// > the coefficients of the 16-bit command to thrust conversion
//std::vector<float> yaml_motorPoly(3);
diff --git a/pps_ws/src/d_fall_pps/param/PickerController.yaml b/pps_ws/src/d_fall_pps/param/PickerController.yaml
index 65e5fff4..e9ee0b09 100644
--- a/pps_ws/src/d_fall_pps/param/PickerController.yaml
+++ b/pps_ws/src/d_fall_pps/param/PickerController.yaml
@@ -58,7 +58,7 @@ shouldPerformConvertIntoBodyFrame : true
#shouldPublishCurrent_xyz_yaw : true
# Boolean indiciating whether the "Debug Message" of this agent should be published or not
-shouldPublishDebugMessage : true
+shouldPublishDebugMessage : false
# Boolean indiciating whether the debugging ROS_INFO_STREAM should be displayed or not
shouldDisplayDebugInfo : false
diff --git a/pps_ws/src/d_fall_pps/src/nodes/PickerControllerService.cpp b/pps_ws/src/d_fall_pps/src/nodes/PickerControllerService.cpp
index d762170a..63346c0f 100644
--- a/pps_ws/src/d_fall_pps/src/nodes/PickerControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/nodes/PickerControllerService.cpp
@@ -638,6 +638,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
// CALL THE FUNCTION FOR PER CYLCE OPERATIONS
perControlCycleOperations();
+
// THIS IS THE START OF THE "OUTER" CONTROL LOOP
// > i.e., this is the control loop run on this laptop
// > this function is called at the frequency specified
@@ -654,7 +655,8 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
// SMOOTH ANY CHANGES THAT MAY HAVE OCCURRED IN THE
// SETPOINT
smoothSetpointChanges();
-
+
+
// CONVERT THE CURRENT INERTIAL FRAME STATE ESTIMATE, INTO
// THE BODY FRAME ERROR REQUIRED BY THE CONTROLLER
// > Define a local array to fill in with the body frame error
@@ -662,14 +664,12 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
// > Call the function to perform the conversion
convert_stateInertial_to_bodyFrameError(m_current_stateInertialEstimate,m_setpoint_for_controller,current_bodyFrameError);
-
// CARRY OUT THE CONTROLLER COMPUTATIONS
// Call the function that performs the control computations for this mode
calculateControlOutput_viaLQRforRates(current_bodyFrameError,request,response);
-
// // PUBLISH THE CURRENT X,Y,Z, AND YAW (if required)
// if (shouldPublishCurrent_xyz_yaw)
// {
@@ -1825,7 +1825,7 @@ int main(int argc, char* argv[]) {
// Create the service call as a local variable
LoadYamlFromFilename loadYamlFromFilenameCall;
// Specify the Yaml filename as a string
- loadYamlFromFilenameCall.request.stringWithHeader.data = "StudentController";
+ loadYamlFromFilenameCall.request.stringWithHeader.data = "PickerController";
// Set for whom this applies to
loadYamlFromFilenameCall.request.stringWithHeader.shouldCheckForID = false;
// Wait until the serivce exists
--
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