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debugged SD error

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This commit is contained in:
Marvin Harms
2022-06-20 15:22:08 +02:00
parent 1e73cdc4d2
commit 7e38274e2a
1 changed files with 6 additions and 4 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+6 -4
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@@ -77,13 +77,14 @@ FixedwingPositionINDIControl::init()
PX4_ERR("vehicle position callback registration failed!");
return false;
}
PX4_INFO("Starting FW_DYN_SOAR_CONTROLLER");
//_read_trajectory_coeffs_csv("trajectory5.csv");
//_read_trajectory_coeffs_csv("trajectory4.csv");
//_read_trajectory_coeffs_csv("trajectory3.csv");
//_read_trajectory_coeffs_csv("trajectory2.csv");
//_read_trajectory_coeffs_csv("trajectory1.csv");
//char filename[] = "trajectory0.csv";
//_read_trajectory_coeffs_csv(filename);
char filename[] = "trajectory0.csv";
_read_trajectory_coeffs_csv(filename);
// initialize transformations
_R_ned_to_enu *= 0.f;
@@ -407,8 +408,8 @@ 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");
@@ -1179,6 +1180,7 @@ FixedwingPositionINDIControl::_compute_INDI_stage_1(Vector3f pos_ref, Vector3f v
//PX4_ERR("No valid airspeed message detected or airspeed to low");
}
// not really a accel command, rather a FF-P command
rot_acc_command(2) = _K_w(2,2)*(omega_turn_ref(2) - omega_filtered(2));
return rot_acc_command;