Changeset 422 in flair-src for trunk


Ignore:
Timestamp:
Apr 22, 2021, 2:20:26 PM (7 months ago)
Author:
Sanahuja Guillaume
Message:

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

Location:
trunk/lib/FlairMeta/src
Files:
2 edited

Legend:

Unmodified
Added
Removed
  • trunk/lib/FlairMeta/src/MetaUsRangeFinder.cpp

    r214 r422  
    4040MetaUsRangeFinder::MetaUsRangeFinder(UsRangeFinder *us)
    4141    : Object(us, us->ObjectName()) {
     42  //TODO: mettre une rotation entre la sortie US et le low pass
     43  //pour eviter les fausses mesures quand le drone est orienté
     44  /* ex
     45  Vector3Df test(0,0,altitude+0.04);
     46  Printf("altitude av %f %f %f %f\n",altitude,test.x,test.y,test.z);
     47  test.Rotate(currentQuaternion);
     48  Printf("altitude ap %f %f %f %f\n",altitude,test.x,test.y,test.z-0.04);
     49   */
    4250  this->us = us;
    4351  pbas_z =
  • trunk/lib/FlairMeta/src/UavStateMachine.cpp

    r420 r422  
    149149  altitude = uav->GetMetaUsRangeFinder()->z();
    150150  verticalSpeed = uav->GetMetaUsRangeFinder()->Vz();
     151 
     152  //+0.04 decalage en z de l'us en simulation
     153  //faire un reglage
     154  /*
     155  Vector3Df test(0,0,altitude+0.04);
     156  Printf("altitude av %f %f %f %f\n",altitude,test.x,test.y,test.z);
     157  test.Rotate(currentQuaternion);
     158  Printf("altitude ap %f %f %f %f\n",altitude,test.x,test.y,test.z-0.04);
     159   */
    151160}
    152161
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