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updated control gains

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This commit is contained in:
Marvin Harms
2022-07-08 11:11:52 +02:00
parent c287c56f8d
commit b01e864271
5 changed files with 25 additions and 13 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+8 -2
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@@ -387,6 +387,12 @@ FixedwingPositionINDIControl::_select_trajectory(float initial_energy)
case 5:
strcpy(filename,"trajectory5.csv");
break;
case 6:
strcpy(filename,"trajectory6.csv");
break;
case 7:
strcpy(filename,"trajectory7.csv");
break;
default:
strcpy(filename,"trajectory0.csv");
@@ -403,8 +409,8 @@ 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");