Revision fd29b28e
| ID | fd29b28eb2f84596cc133172863b245968088898 |
Tested velocity control and added yaw and throttle control to joystick.
| mikrokopter/src/nav_lib.cpp | ||
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| 16 | 16 |
control.config = 1; |
| 17 | 17 |
} |
| 18 | 18 |
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| 19 |
void MikrokopterControl::velocity_control(int forward_speed, int lateral_speed)
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| 19 |
void MikrokopterControl::velocity_control(float forward_speed, float lateral_speed)
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| 20 | 20 |
{
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int k = 1; // TODO set scaling constant and check signs
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int k = 50; // TODO set scaling constant and check signs
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| 22 | 22 |
control.roll = k*(forward_speed - lateral_speed); |
| 23 | 23 |
control.pitch = k*(forward_speed + lateral_speed); |
| 24 | 24 |
} |
| ... | ... | |
| 53 | 53 |
control.pitch = 0; |
| 54 | 54 |
} |
| 55 | 55 |
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| 56 |
void MikrokopterControl::set_thrust(int thrust)
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| 56 |
void MikrokopterControl::set_thrust(float thrust)
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| 57 | 57 |
{
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control.thrust = thrust; |
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int k = 100; |
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control.thrust = k*thrust; |
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} |
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| 61 |
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void MikrokopterControl::set_yaw(float yaw) |
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{
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int k = 50; |
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control.yaw = k*yaw; |
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| 59 | 66 |
} |
| 60 | 67 |
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| 61 | 68 |
void MikrokopterControl::publish_on(ros::Publisher& pub) |
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