Changeset 422 in flair-src

Timestamp:

Apr 22, 2021, 2:20:26 PM (4 years ago)

Author:

Sanahuja Guillaume

Message:

test pour recaler l'us en fonction de l'orientation

Location:

trunk/lib/FlairMeta/src

Files:

• MetaUsRangeFinder.cpp (modified) (1 diff)
• UavStateMachine.cpp (modified) (1 diff)

trunk/lib/FlairMeta/src/MetaUsRangeFinder.cpp

@@ -40 +40 @@
 MetaUsRangeFinder::MetaUsRangeFinder(UsRangeFinder *us)
     : Object(us, us->ObjectName()) {
+  //TODO: mettre une rotation entre la sortie US et le low pass
+  //pour eviter les fausses mesures quand le drone est orienté
+  /* ex
+  Vector3Df test(0,0,altitude+0.04);
+  Printf("altitude av %f %f %f %f\n",altitude,test.x,test.y,test.z);
+  test.Rotate(currentQuaternion);
+  Printf("altitude ap %f %f %f %f\n",altitude,test.x,test.y,test.z-0.04);
+   */
   this->us = us;
   pbas_z =

trunk/lib/FlairMeta/src/UavStateMachine.cpp

@@ -149 +149 @@
   altitude = uav->GetMetaUsRangeFinder()->z();
   verticalSpeed = uav->GetMetaUsRangeFinder()->Vz();
+  
+  //+0.04 decalage en z de l'us en simulation
+  //faire un reglage
+  /*
+  Vector3Df test(0,0,altitude+0.04);
+  Printf("altitude av %f %f %f %f\n",altitude,test.x,test.y,test.z);
+  test.Rotate(currentQuaternion);
+  Printf("altitude ap %f %f %f %f\n",altitude,test.x,test.y,test.z-0.04);
+   */
 }