.gitignore

@@ -16,4 +16,3 @@ msg/Markers.msg
 *.rviz
 setup.txt
 px4_setup/protobuf_install.txt
-

CMakeLists.txt

@@ -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 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
 # add_library(${PROJECT_NAME}

src/klausen_control.py

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