Commit 1bd2a187 authored by Yvan Bosshard's avatar Yvan Bosshard
Browse files

Angle data from CF is transformed to rad

parent a246a346
......@@ -14,28 +14,34 @@
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#define DEG2RAD 0.01745329251
#include <stdlib.h>
#include <string.h>
#include <ros/package.h>
#include <rosbag/bag.h>
#include "d_fall_pps/CMQuery.h"
#include "d_fall_pps/CrazyflieData.h"
#include "d_fall_pps/CrazyflieContext.h"
#include "UWBDataPublisher.h"
#include "DataStreamClient.h"
#include "d_fall_pps/CrazyflieContext.h"
#include "std_msgs/Float32.h"
#include "std_msgs/Float32MultiArray.h"
#include "d_fall_pps/CrazyflieData.h"
#include "d_fall_pps/CMQuery.h"
//#include "DataStreamClient.h"
//#include "std_msgs/Float32.h"
//#include "std_msgs/Float32MultiArray.h"
#include "UWBDataPublisher.h"
using namespace d_fall_pps;
......@@ -99,9 +105,9 @@ void d_fall_pps::dbChangedCallback(const std_msgs::Int32& msg)
//Callback function to handle roll pitch yaw information from CF
void d_fall_pps::cfRPYCallback(const std_msgs::Float32MultiArray &arrRPY)
{
rollPitchYaw[0] = arrRPY.data[0];
rollPitchYaw[1] = arrRPY.data[1];
rollPitchYaw[2] = arrRPY.data[2];
rollPitchYaw[0] = arrRPY.data[0] * DEG2RAD;
rollPitchYaw[1] = arrRPY.data[1] * DEG2RAD;
rollPitchYaw[2] = arrRPY.data[2] * DEG2RAD;
}
// Callback functions to handle times information from CF
......
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