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added shear height param and new trajectories

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This commit is contained in:
Marvin Harms
2022-08-20 11:43:03 +02:00
parent 8c65424b34
commit 48beb3ead0
11 changed files with 50 additions and 14 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+4 -2
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@@ -173,6 +173,8 @@ FixedwingPositionINDIControl::parameters_update()
_loiter = _param_loiter.get();
_shear_heading = _param_shear_heading.get()/180.f * M_PI_F + M_PI_2_F;
_shear_h_ref = _param_shear_height.get();
_select_trajectory(0.0f);
_thrust = _param_thrust.get();
@@ -535,8 +537,8 @@ FixedwingPositionINDIControl::_read_trajectory_coeffs_csv(char *filename)
// =======================================================================
bool error = false;
char home_dir[200] = "/home/marvin/Documents/master_thesis_ADS/PX4/Git/ethzasl_fw_px4/src/modules/fw_dyn_soar_control/trajectories/";
//char home_dir[200] = PX4_ROOTFSDIR"/fs/microsd/trajectories/";
//char home_dir[200] = "/home/marvin/Documents/master_thesis_ADS/PX4/Git/ethzasl_fw_px4/src/modules/fw_dyn_soar_control/trajectories/";
char home_dir[200] = PX4_ROOTFSDIR"/fs/microsd/trajectories/";
//PX4_ERR(home_dir);
strcat(home_dir,filename);
FILE* fp = fopen(home_dir, "r");