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added webcontrol to drones and increase script max_vel

This commit is contained in:
David 2018-09-10 17:48:11 -04:00
parent 602d744140
commit 353f169be1
3 changed files with 6 additions and 6 deletions
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4
buzz_scripts/include/act/states.bzz
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@ -12,9 +12,9 @@ TARGET_ALTITUDE = 15.0 # m.
BVMSTATE = "TURNEDOFF" BVMSTATE = "TURNEDOFF"
PICTURE_WAIT = 20 # steps PICTURE_WAIT = 20 # steps
GOTO_MAXVEL = 0.5 # m/steps GOTO_MAXVEL = 1.5 # m/steps
GOTO_MAXDIST = 150 # m. GOTO_MAXDIST = 150 # m.
GOTODIST_TOL = 1.0 # m. GOTODIST_TOL = 0.8 # m.
GOTOANG_TOL = 0.1 # rad. GOTOANG_TOL = 0.1 # rad.
path_it = 0 path_it = 0
pic_time = 0 pic_time = 0

2
misc/cmdlinectr.sh
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@ -34,7 +34,7 @@ function stoprobot {
} }
function updaterobot { function updaterobot {
# rosrun robot_upstart install --logdir ~/ROS_WS/log/ robot_upstart/launch/m100buzzynocam.launch # 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 /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 # rosrun robot_upstart install --logdir ~/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TXbuzzy.launch
} }

6
src/roscontroller.cpp
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@ -1023,9 +1023,9 @@ void roscontroller::SetLocalPosition(float x, float y, float z, float yaw)
moveMsg.pose.orientation.w = q[3]; moveMsg.pose.orientation.w = q[3];
// To prevent drifting from stable position, uncomment // To prevent drifting from stable position, uncomment
if(fabs(x)>0.005 || fabs(y)>0.005) { //if(fabs(x)>0.005 || fabs(y)>0.005) {
localsetpoint_nonraw_pub.publish(moveMsg); // localsetpoint_nonraw_pub.publish(moveMsg);
} //}
} }
void roscontroller::SetMode(std::string mode, int delay_miliseconds) void roscontroller::SetMode(std::string mode, int delay_miliseconds)