minor fixes for the spiri
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@ -12,7 +12,7 @@ TARGET_ALTITUDE = 15.0 # m.
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BVMSTATE = "TURNEDOFF"
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BVMSTATE = "TURNEDOFF"
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PICTURE_WAIT = 20 # steps
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PICTURE_WAIT = 20 # steps
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GOTO_MAXVEL = 0.85 # m/steps
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GOTO_MAXVEL = 1.5 # m/steps
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GOTO_MAXDIST = 150 # m.
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GOTO_MAXDIST = 150 # m.
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GOTODIST_TOL = 0.4 # m.
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GOTODIST_TOL = 0.4 # m.
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GOTOANG_TOL = 0.1 # rad.
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GOTOANG_TOL = 0.1 # rad.
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@ -35,7 +35,7 @@ function cusfun(){
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log("cusfun: yay!!!")
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log("cusfun: yay!!!")
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LOCAL_TARGET = math.vec2.new(5 ,0 )
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LOCAL_TARGET = math.vec2.new(5 ,0 )
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local_set_point = math.vec2.new(LOCAL_TARGET.x - pose.position.x ,LOCAL_TARGET.y - pose.position.y ) # has to move 5 meters in x from the home location
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local_set_point = math.vec2.new(LOCAL_TARGET.x - pose.position.x ,LOCAL_TARGET.y - pose.position.y ) # has to move 5 meters in x from the home location
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if(math.vec2.length(local_set_point) > GOTODIST_TOL){
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if(math.vec2.length(local_set_point) > GOTODIST_TOL){
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local_set_point = LimitSpeed(local_set_point, 1.0)
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local_set_point = LimitSpeed(local_set_point, 1.0)
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goto_abs(local_set_point.x, local_set_point.y, 0.0, 0.0)
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goto_abs(local_set_point.x, local_set_point.y, 0.0, 0.0)
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}
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}
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@ -9,6 +9,7 @@ include "vstigenv.bzz"
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include "utils/takeoff_heights.bzz"
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include "utils/takeoff_heights.bzz"
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#State launched after takeoff
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#State launched after takeoff
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AUTO_LAUNCH_STATE = "TASK_ALLOCATE"
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AUTO_LAUNCH_STATE = "TASK_ALLOCATE"
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TARGET = 9.0
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TARGET = 9.0
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EPSILON = 30.0
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EPSILON = 30.0
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