Commit 189d54a7 authored by Paul Beuchat's avatar Paul Beuchat
Browse files

small bug in load-to-world frame trafo.

parent b52b80e2
......@@ -10,7 +10,7 @@ motorPoly : [5.484560e-4, 1.032633e-6, 2.130295e-11]
#take off and landing parameters (in meters and seconds)
takeOffinitial : 0.05
takeOffDistance : 0.3
takeOffDistance : 0.6
landingDistance : 0.1
durationTakeOff : 2.0
durationLanding : 2.0
......
......@@ -340,9 +340,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
landing_delta = {0.1 , 0.0, 0.0};
landing_delta[0] += attachmentPoint.P1[0];
landing_delta[1] += attachmentPoint.P1[1];
landing_delta[2] += attachmentPoint.P1[2];
distance_to_load_world = transformation_frame_load_to_world(landing_delta , 0.0, 0.0, yaw );
landing_delta[2] += attachmentPoint.P1[2];
}
else if (my_agentID == 2)
{
......@@ -350,7 +348,6 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
landing_delta[0] += attachmentPoint.P2[0];
landing_delta[1] += attachmentPoint.P2[1];
landing_delta[2] += attachmentPoint.P2[2];
distance_to_load_world = transformation_frame_load_to_world(landing_delta, 0.0, 0.0, yaw );
}
else if (my_agentID == 3)
{
......@@ -358,9 +355,9 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
landing_delta[0] += attachmentPoint.P3[0];
landing_delta[1] += attachmentPoint.P3[1];
landing_delta[2] += attachmentPoint.P3[2];
distance_to_load_world = transformation_frame_load_to_world(landing_delta, 0.0, 0.0, yaw );
}
distance_to_load_world = transformation_frame_load_to_world(landing_delta , 0.0, 0.0, yaw );
agent_setpoint[0] = load_setpoint[0] + distance_to_load_world[0];
agent_setpoint[1] = load_setpoint[1] + distance_to_load_world[1];
agent_setpoint[2] = request.ownCrazyflie.z;
......
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