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minor fix in goto

This commit is contained in:
David St-Onge 2017-01-27 18:00:41 -05:00
parent a7e7c24906
commit 67976b1be2
4 changed files with 11 additions and 9 deletions
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2
launch/rosbuzzm100.launch
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@ -9,7 +9,7 @@
<param name="in_payload" value="/inMavlink"/>
<param name="out_payload" value="/outMavlink"/>
<param name="robot_id" value="3"/>
<param name="No_of_Robots" value="2"/>
<param name="No_of_Robots" value="3"/>
<param name="stand_by" value="../ROS_WS/src/ROSBuzz/src/stand_by.bo"/>
</node>

9
src/buzzuav_closures.cpp
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@ -16,6 +16,7 @@ static uint8_t status;
static int cur_cmd = 0;
static int rc_cmd=0;
static int buzz_cmd=0;
static float height=0;
/****************************************/
/****************************************/
@ -61,12 +62,13 @@ int buzzros_print(buzzvm_t vm) {
/****************************************/
/****************************************/
#define EARTH_RADIUS 6371000
/*convert from spherical to cartesian coordinate system callback */
void cartesian_coordinates(double spherical_pos_payload [], double out[]){
double latitude, longitude, rho;
latitude = spherical_pos_payload[0] / 180.0 * M_PI;
longitude = spherical_pos_payload[1] / 180.0 * M_PI;
rho = spherical_pos_payload[2]+6371000; //centered on Earth
rho = spherical_pos_payload[2]+EARTH_RADIUS; //centered on Earth
try {
out[0] = cos(latitude) * cos(longitude) * rho;
out[1] = cos(latitude) * sin(longitude) * rho;
@ -82,7 +84,7 @@ int buzzros_print(buzzvm_t vm) {
y = cartesian_pos_payload[1];
z = cartesian_pos_payload[2];
try {
out[2]=sqrt(pow(x,2.0)+pow(y,2.0)+pow(z,2.0))-6371000;
out[2]=sqrt(pow(x,2.0)+pow(y,2.0)+pow(z,2.0))-EARTH_RADIUS;
out[1]=atan2(y,x)*180/M_PI;
out[0]=atan2(z,(sqrt(pow(x,2.0)+pow(y,2.0))))*180/M_PI;
} catch (std::overflow_error e) {
@ -110,7 +112,7 @@ int buzzuav_goto(buzzvm_t vm) {
spherical_coordinates(goto_cartesian, goto_pos);
// goto_pos[0]=cur_pos[0]+dlat*180/M_PI;
// goto_pos[1]=cur_pos[1]+dlon*180/M_PI;
// goto_pos[2]=cur_pos[2];
goto_pos[2]=height; // force a constant altitude
cur_cmd=mavros_msgs::CommandCode::NAV_WAYPOINT;
printf(" Buzz requested Go To, to Latitude: %.7f , Longitude: %.7f, Altitude: %.7f \n",goto_pos[0],goto_pos[1],goto_pos[2]);
buzz_cmd=2;
@ -158,6 +160,7 @@ int buzzuav_takeoff(buzzvm_t vm) {
buzzvm_lload(vm, 1); /* Altitude */
buzzvm_type_assert(vm, 1, BUZZTYPE_FLOAT);
goto_pos[2]=buzzvm_stack_at(vm, 1)->f.value;
height = goto_pos[2];
cur_cmd=mavros_msgs::CommandCode::NAV_TAKEOFF;
printf(" Buzz requested Take off !!! \n");
buzz_cmd=1;

2
src/roscontroller.cpp
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@ -431,7 +431,7 @@ namespace rosbzz_node{
cvt_spherical_coordinates(neighbours_pos_payload, cvt_neighbours_pos_payload);
/*Extract robot id of the neighbour*/
uint16_t* out = buzz_utility::u64_cvt_u16((uint64_t)*(message_obt+3));
// cout << "Rel Pos of " << (int)out[1] << ": " << cvt_neighbours_pos_payload[0] << ", "<< cvt_neighbours_pos_payload[2] << ", "<< cvt_neighbours_pos_payload[3] << endl;
cout << "Rel Pos of " << (int)out[1] << ": " << cvt_neighbours_pos_payload[0] << ", "<< cvt_neighbours_pos_payload[2] << ", "<< cvt_neighbours_pos_payload[3] << endl;
// cout << "Rel Test Pos of " << (int)out[1] << ": " << cvt_neighbours_pos_test[0] << ", "<< cvt_neighbours_pos_test[2] << ", "<< cvt_neighbours_pos_test[3] << endl;
/*pass neighbour position to local maintaner*/
buzz_utility::Pos_struct n_pos(cvt_neighbours_pos_payload[0],cvt_neighbours_pos_payload[1],cvt_neighbours_pos_payload[2]);

5
src/test1.bzz
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@ -1,4 +1,3 @@
# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "/home/ubuntu/buzz/src/include/vec2.bzz"
@ -15,8 +14,8 @@ neighbors.broadcast(updated, update_no)
TARGET_ALTITUDE = 10.1
# Lennard-Jones parameters
TARGET = 0.000001001
EPSILON = 0.001
TARGET = 5 #0.000001001
EPSILON = 20 #0.001
# Lennard-Jones interaction magnitude
function lj_magnitude(dist, target, epsilon) {