Revision 08b4f0df
ID | 08b4f0dffc8b0346d7acad08ca7e6d69ae5d5bf5 |
Changed max thrust in nav_lib and set thrust to 0 in mk_wrapper
Tested joystick_control with the quadrotor, and it works! And it now has
enough thrust to get it off the ground.
mikrokopter/src/mk_wrapper.cpp | ||
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37 | 37 |
control_dead.pitch = 0; |
38 | 38 |
control_dead.roll = 0; |
39 | 39 |
control_dead.yaw = 0; |
40 |
control_dead.thrust = 60;
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|
40 |
control_dead.thrust = 0; |
|
41 | 41 |
|
42 | 42 |
ros::Rate loop_rate(20); |
43 | 43 |
while (ros::ok()) |
mikrokopter/src/nav_lib.cpp | ||
---|---|---|
58 | 58 |
|
59 | 59 |
void MikrokopterControl::set_thrust(float thrust) |
60 | 60 |
{ |
61 |
int k = 100;
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|
61 |
int k = 255;
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|
62 | 62 |
control.thrust = k*thrust; |
63 | 63 |
} |
64 | 64 |
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