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Commit 2353692a authored by mastefan's avatar mastefan
Browse files

P&V: FSM fix, rviz CF added

parent 66042ebc
......@@ -505,6 +505,8 @@ visualization_msgs::Marker rviz_mothership;
ros::Publisher rviz_points_trajectory_publisher;
ros::Publisher rviz_points_trajectory_generated_publisher;
ros::Publisher rviz_xm2_publisher;
ros::Publisher rviz_cf_publisher_1;
ros::Publisher rviz_cf_publisher_2;
bool reset_rviz = false;
......
......@@ -4,7 +4,7 @@ mass_CF : 31 #28 #32
# Max setpoint change per second
max_setpoint_change_per_second_horizontal : 3.00 # [meters]
max_setpoint_change_per_second_vertical : 0.8 # [meters]
max_setpoint_change_per_second_vertical : 0.6 #0.8 # [meters]
max_setpoint_change_per_second_yaw_degrees : 90.00 # [degrees]
# max absolute value for integrator
......@@ -24,18 +24,18 @@ controller_mode : 1
# lookahead times
trajectory_deltaT_position: 0.0
trajectory_deltaT_velocity: 0.35
trajectory_deltaT_velocity: 0.45 #0.5 #0.35
# distance to first point on trajectory
xm1_x_distance: 0.5
# distance from MS to second point on trajectory
xm2_distance_to_ms: 0.2 #0.6
xm2_height_over_ms: 0.4 #0.3
xm2_distance_to_ms: 1.0 #0.6
xm2_height_over_ms: 0.5 #0.3
xm1_height: 0.6
# velocity of trajctory
trajectory_velocity_of_CF : 2.0
trajectory_velocity_of_CF_init : 1
trajectory_velocity_of_CF_init : 1.0
xm1_normalizing_factor : 3 # normalize the difference between xcf0 and xms
xm1_scaling_factor : 0.6 # Scale in the direction of the the difference between xcf0 and xms
......@@ -47,7 +47,7 @@ tol_takeoff: [0.07, 0.07, 0.07] #[0.07, 0.07, 0.07]
tol_approach: [0.3, 0.3, 0.1]
tol_land: [0.05, 0.05, 0.05] #[0.01, 0.01, 0.05]
land_height: 0.03 #0.3
start_height: 0.9
start_height: 1.2
pickupmode: 0 # 0=land directly; 1=hover to pickup chocolate
......
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