Commit 9fb22f30 authored by roangel's avatar roangel
Browse files

debug details in CustomController

parent 82f68caa
......@@ -160,6 +160,10 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
response.controlOutput.pitch = outPitch;
response.controlOutput.yaw = outYaw;
ROS_INFO_STREAM("controlOutput.roll = " << response.controlOutput.roll);
ROS_INFO_STREAM("controlOutput.pitch = " << response.controlOutput.pitch);
ROS_INFO_STREAM("controlOutput.yaw = " << response.controlOutput.yaw);
response.controlOutput.motorCmd1 = computeMotorPolyBackward(thrustIntermediate + gravity_force);
response.controlOutput.motorCmd2 = computeMotorPolyBackward(thrustIntermediate + gravity_force);
response.controlOutput.motorCmd3 = computeMotorPolyBackward(thrustIntermediate + gravity_force);
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment