lowered the velocity and target threshold. increased altitude

buzz_scripts/include/act/states.bzz

@@ -10,10 +10,10 @@ include "utils/conversions.bzz"
 TARGET_ALTITUDE = 15.0 # m.
 BVMSTATE = "TURNEDOFF"
 PICTURE_WAIT = 20 # steps
-GOTO_MAXVEL = 5.0 # m/steps
+GOTO_MAXVEL = 2.0 # m/steps
 GOTO_MAXDIST = 150 # m.
-GOTODIST_TOL = 2.0  # m.
-GOTOANG_TOL = 0.2 # rad.
+GOTODIST_TOL = 1.0  # m.
+GOTOANG_TOL = 0.1 # rad.
 path_it = 0
 graphid = 0
 pic_time = 0

buzz_scripts/main.bzz

@@ -34,7 +34,7 @@ function init() {
 	init_swarm()
 	initGraph()
 
-	TARGET_ALTITUDE = 5 + (id-LOWEST_ROBOT_ID)*3.0 # m
+	TARGET_ALTITUDE = 5 + (id-LOWEST_ROBOT_ID)*4.0 # m
 	loop = 1
 
 	# start the swarm command listener