cesar.alejandro/oscillation_ctrl
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base: cesar.alejandro:f39d7c993d18c1269e4fe4d93eff5ed2e73336b0
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compare: cesar.alejandro:3cec1e10f8be8866f211d6ae51471768178df433
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f39d7c993d ... 3cec1e10f8

3 changed files with 11 additions and 7 deletions
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1
.gitignore vendored
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@ -16,4 +16,3 @@ msg/Markers.msg
*.rviz *.rviz
setup.txt setup.txt
px4_setup/protobuf_install.txt px4_setup/protobuf_install.txt

12
CMakeLists.txt
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@ -84,11 +84,17 @@ target_link_libraries(pathFollow_node ${catkin_LIBRARIES})
add_dependencies(pathFollow_node ${${PROJECT_NAME}EXPORTEDTARGETS} ${catkin_EXPORTED_TARGETS}) add_dependencies(pathFollow_node ${${PROJECT_NAME}EXPORTEDTARGETS} ${catkin_EXPORTED_TARGETS})
#add_dependencies(pathFollow_node oscillation_ctrl_generate_messages_cpp) #add_dependencies(pathFollow_node oscillation_ctrl_generate_messages_cpp)
add_executable(mocap_pathFollow_node src/mocap_path_follow.cpp) #add_executable(mocap_offb_node src/mocap_offb_node.cpp)
target_link_libraries(mocap_pathFollow_node ${catkin_LIBRARIES}) #target_link_libraries(mocap_offb_node ${catkin_LIBRARIES})
add_dependencies(mocap_pathFollow_node ${${PROJECT_NAME}EXPORTEDTARGETS} ${catkin_EXPORTED_TARGETS}) #add_dependencies(mocap_offb_node ${${PROJECT_NAME}EXPORTEDTARGETS} ${catkin_EXPORTED_TARGETS})
#add_executable(mocap_pathFollow_node src/mocap_path_follow.cpp)
#target_link_libraries(mocap_pathFollow_node ${catkin_LIBRARIES})
#add_dependencies(mocap_pathFollow_node ${${PROJECT_NAME}EXPORTEDTARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ library ## Declare a C++ library
# add_library(${PROJECT_NAME} # add_library(${PROJECT_NAME}

5
src/klausen_control.py
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@ -15,7 +15,7 @@ import rosservice
from tf.transformations import * from tf.transformations import *
from scipy.integrate import odeint from scipy.integrate import odeint
from oscillation_ctrl.msg import RefSignal, LoadAngles from oscillation_ctrl.msg import RefSignal, LoadAngles, TetheredStatus
from oscillation_ctrl.srv import WaypointTrack from oscillation_ctrl.srv import WaypointTrack
from geometry_msgs.msg import Pose, Point, TwistStamped, PoseStamped from geometry_msgs.msg import Pose, Point, TwistStamped, PoseStamped
from sensor_msgs.msg import Imu from sensor_msgs.msg import Imu
@ -185,8 +185,7 @@ class Main:
if rospy.has_param('status/hover_throttle'): if rospy.has_param('status/hover_throttle'):
hover_throttle = rospy.get_param('status/hover_throttle') hover_throttle = rospy.get_param('status/hover_throttle')
else: else:
hover_throttle = (self.tot_m*9.81 + 11.2)/34.84 # linear scaling depending on dependent on mass hover_throttle = (self.tot_m*9.81 + 9.57)/34.84 # linear scaling depending on dependent on mass
rospy.set_param('status/hover_throttle',hover_throttle)
kf = hover_throttle/(self.tot_m*9.81) kf = hover_throttle/(self.tot_m*9.81)
return kf return kf