From 353f169be171d87063c23931fcfd64d974a7ea07 Mon Sep 17 00:00:00 2001 From: David Date: Mon, 10 Sep 2018 17:48:11 -0400 Subject: [PATCH] added webcontrol to drones and increase script max_vel --- buzz_scripts/include/act/states.bzz | 4 ++-- misc/cmdlinectr.sh | 2 +- src/roscontroller.cpp | 6 +++--- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/buzz_scripts/include/act/states.bzz b/buzz_scripts/include/act/states.bzz index 55540e0..2287fc3 100644 --- a/buzz_scripts/include/act/states.bzz +++ b/buzz_scripts/include/act/states.bzz @@ -12,9 +12,9 @@ TARGET_ALTITUDE = 15.0 # m. BVMSTATE = "TURNEDOFF" PICTURE_WAIT = 20 # steps -GOTO_MAXVEL = 0.5 # m/steps +GOTO_MAXVEL = 1.5 # m/steps GOTO_MAXDIST = 150 # m. -GOTODIST_TOL = 1.0 # m. +GOTODIST_TOL = 0.8 # m. GOTOANG_TOL = 0.1 # rad. path_it = 0 pic_time = 0 diff --git a/misc/cmdlinectr.sh b/misc/cmdlinectr.sh index bea3e11..2a37a98 100644 --- a/misc/cmdlinectr.sh +++ b/misc/cmdlinectr.sh @@ -34,7 +34,7 @@ function stoprobot { } function updaterobot { # rosrun robot_upstart install --logdir ~/ROS_WS/log/ robot_upstart/launch/m100buzzynocam.launch - rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TXHeavenbuzzy.launch + rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TX16US.launch # rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TXxbeebuzzy.launch # rosrun robot_upstart install --logdir ~/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TXbuzzy.launch } diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp index 4e1f2b8..7bf5674 100644 --- a/src/roscontroller.cpp +++ b/src/roscontroller.cpp @@ -1023,9 +1023,9 @@ void roscontroller::SetLocalPosition(float x, float y, float z, float yaw) moveMsg.pose.orientation.w = q[3]; // To prevent drifting from stable position, uncomment - if(fabs(x)>0.005 || fabs(y)>0.005) { - localsetpoint_nonraw_pub.publish(moveMsg); - } + //if(fabs(x)>0.005 || fabs(y)>0.005) { + // localsetpoint_nonraw_pub.publish(moveMsg); + //} } void roscontroller::SetMode(std::string mode, int delay_miliseconds)