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ROSBuzz_MISTLab
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nav parameter adaptation

This commit is contained in:
David St-Onge 2018-07-30 00:54:56 -04:00
parent 5195fbf329
commit 79fea108a2
1 changed files with 2 additions and 2 deletions
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4
buzz_scripts/include/act/states.bzz
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@ -12,7 +12,7 @@ BVMSTATE = "TURNEDOFF"
PICTURE_WAIT = 20 # steps PICTURE_WAIT = 20 # steps
GOTO_MAXVEL = 0.5 # m/steps GOTO_MAXVEL = 0.5 # m/steps
GOTO_MAXDIST = 150 # m. GOTO_MAXDIST = 150 # m.
GOTODIST_TOL = 0.8 # m. GOTODIST_TOL = 1.0 # m.
GOTOANG_TOL = 0.2 # rad. GOTOANG_TOL = 0.2 # rad.
path_it = 0 path_it = 0
graphid = 0 graphid = 0
@ -98,7 +98,7 @@ function goto_gps(transf) {
else { else {
#LimitSpeed(m_navigation, 1.0) #LimitSpeed(m_navigation, 1.0)
log("NAVIGATION !!!! distance to target: ", math.vec2.length(m_navigation)," angle", math.vec2.angle(m_navigation) ) log("NAVIGATION !!!! distance to target: ", math.vec2.length(m_navigation)," angle", math.vec2.angle(m_navigation) )
goto_abs(m_navigation.x, m_navigation.y, rc_goto.altitude - pose.position.altitude, 0.0) goto_abs(m_navigation.x/2.0, m_navigation.y/2.0, rc_goto.altitude - pose.position.altitude, 0.0)
} }
} }