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TESTING CODE

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Marvin Harms
2022-06-29 16:44:07 +02:00
parent 521e8e0bff
commit 4db29df3b7
1 changed files with 3 additions and 3 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+3 -3
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@@ -403,8 +403,8 @@ FixedwingPositionINDIControl::_read_trajectory_coeffs_csv(char *filename)
// ======================================================================= // =======================================================================
bool error = false; 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] = "/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] = PX4_ROOTFSDIR"/fs/microsd/trajectories/";
//PX4_ERR(home_dir); //PX4_ERR(home_dir);
strcat(home_dir,filename); strcat(home_dir,filename);
FILE* fp = fopen(home_dir, "r"); FILE* fp = fopen(home_dir, "r");
@@ -604,7 +604,7 @@ FixedwingPositionINDIControl::Run()
wind(1) = _lp_filter_wind[1].apply(wind(1)); wind(1) = _lp_filter_wind[1].apply(wind(1));
wind(2) = _lp_filter_wind[2].apply(wind(2)); wind(2) = _lp_filter_wind[2].apply(wind(2));
_set_wind_estimate(wind); _set_wind_estimate(wind);
PX4_INFO("wind estimate:\t%.4f\t%.4f\t%.4f", (double)_wind_estimate(0),(double)_wind_estimate(1),(double)_wind_estimate(2)); //PX4_INFO("wind estimate:\t%.4f\t%.4f\t%.4f", (double)_wind_estimate(0),(double)_wind_estimate(1),(double)_wind_estimate(2));
// only run actuators poll, when our module is not publishing: // only run actuators poll, when our module is not publishing: