Spiri/ROSBuzz_MISTLab
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merge with field changes

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This commit is contained in:
dave 2017-05-10 21:35:47 -04:00
commit e5aa343648
3 changed files with 9 additions and 7 deletions
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2
include/roscontroller.h
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@ -69,9 +69,9 @@ private:
double DEFAULT_REFERENCE_LATITUDE = 45.457817; double DEFAULT_REFERENCE_LATITUDE = 45.457817;
double DEFAULT_REFERENCE_LONGITUDE = -73.636075; double DEFAULT_REFERENCE_LONGITUDE = -73.636075;
double target[3];
double cur_pos[3]; double cur_pos[3];
double home[3]; double home[3];
double target[3];
double cur_rel_altitude; double cur_rel_altitude;
uint64_t payload; uint64_t payload;
std::map< int, buzz_utility::Pos_struct> neighbours_pos_map; std::map< int, buzz_utility::Pos_struct> neighbours_pos_map;

9
script/testflockfev.bzz
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@ -15,8 +15,8 @@ TARGET_ALTITUDE = 3.0
CURSTATE = "TURNEDOFF" CURSTATE = "TURNEDOFF"
# Lennard-Jones parameters # Lennard-Jones parameters
TARGET = 10.0 #0.000001001 TARGET = 12.0 #0.000001001
EPSILON = 18.0 #0.001 EPSILON = 6.0 #0.001
# Lennard-Jones interaction magnitude # Lennard-Jones interaction magnitude
function lj_magnitude(dist, target, epsilon) { function lj_magnitude(dist, target, epsilon) {
@ -48,9 +48,12 @@ function hexagon() {
# if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS # if(timeW>=WAIT_TIMEOUT) { #FOR MOVETO TESTS
# timeW =0 # timeW =0
# statef=land # statef=land
# } else if(timeW>=WAIT_TIMEOUT/2) {
# timeW = timeW+1
# uav_moveto(0.06,0.0)
# } else { # } else {
# timeW = timeW+1 # timeW = timeW+1
# uav_moveto(0.0,0.0) # uav_moveto(0.0,0.06)
# } # }
} }

5
src/roscontroller.cpp
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@ -35,7 +35,6 @@ namespace rosbzz_node{
robot_id= strtol(robot_name.c_str() + 5, NULL, 10); robot_id= strtol(robot_name.c_str() + 5, NULL, 10);
setpoint_counter = 0; setpoint_counter = 0;
fcu_timeout = TIMEOUT; fcu_timeout = TIMEOUT;
} }
/*--------------------- /*---------------------
@ -754,8 +753,8 @@ namespace rosbzz_node{
// ROS_INFO("[%i] ROSBuzz Home: %.7f, %.7f", robot_id, home[0], home[1]); // ROS_INFO("[%i] ROSBuzz Home: %.7f, %.7f", robot_id, home[0], home[1]);
// ROS_INFO("[%i] ROSBuzz LocalPos: %.7f, %.7f", robot_id, local_pos[0], local_pos[1]); // ROS_INFO("[%i] ROSBuzz LocalPos: %.7f, %.7f", robot_id, local_pos[0], local_pos[1]);
/*prepare the goto publish message ATTENTION: ENU FRAME FOR MAVROS STANDARD (then converted to NED)*/ /*prepare the goto publish message ATTENTION: ENU FRAME FOR MAVROS STANDARD (then converted to NED)*/
target[0]+=y; target[1]+=x; target[0]+=y; target[1]+=x;
moveMsg.pose.position.x = target[0];//local_pos[1]+y; moveMsg.pose.position.x = target[0];//local_pos[1]+y;
moveMsg.pose.position.y = target[1];//local_pos[0]+x; moveMsg.pose.position.y = target[1];//local_pos[0]+x;
moveMsg.pose.position.z = z; moveMsg.pose.position.z = z;