Commit 5e52e554 authored by roangel's avatar roangel
Browse files

Merge branch 'student_GUI' of...

Merge branch 'student_GUI' of https://gitlab.ethz.ch/D-FaLL/PandS-System/D-FaLL-System into student_GUI
parents 281c07cc 789eafe3
......@@ -28,6 +28,13 @@ Add a new line in the ``/etc/hosts`` file that links the teacher's IP with the d
- USB Crazyradio: <br />
To set up the crazyradio USB dongle just copy the rule files ``99-crazyflie.rules`` and ``99-crazyradio.rules`` to the directory ``/etc/udev/rules.d``.
You also have to install the library pyusb:
```
sudo apt-get update
sudo apt-get install python-pip
sudo pip install pyusb
```
- Source scripts in ``.bashrc``: <br />
You need to source the following scripts in the ``.bashrc`` file:
- the ROS setup script: ``/opt/ros/kinetic/setup.bash``
......
......@@ -133,6 +133,9 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
request.ownCrazyflie.y -= setpoint[1];
request.ownCrazyflie.z -= setpoint[2];
float yaw = request.ownCrazyflie.yaw - setpoint[3];
while(yaw > PI) {yaw -= 2 * PI;}
while(yaw < -PI) {yaw += 2 * PI;}
request.ownCrazyflie.yaw = yaw;
float est[9];
......
......@@ -174,6 +174,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
request.ownCrazyflie.y -= setpoint[1];
request.ownCrazyflie.z -= setpoint[2];
float yaw = request.ownCrazyflie.yaw - setpoint[3];
//bag.write("Offset", ros::Time::now(), request.ownCrazyflie);
......
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