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TESTING CODE

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This commit is contained in:
Marvin Harms
2022-07-27 23:41:18 +02:00
parent bb1acb0ce3
commit ea602f8eab
1 changed files with 4 additions and 2 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+4 -2
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@@ -465,6 +465,7 @@ FixedwingPositionINDIControl::_select_trajectory(float initial_energy)
<alpha> in [0.10, 1.00]
<energy> in [E_min, E_max]
*/
/*
float v = _findClosest(_v_max_arr, _gridsize, _shear_v_max); // wind velocity
float a = _findClosest(_alpha_arr, _gridsize, _shear_alpha); // shear strength
float e = _findClosest(_energy_arr, _gridsize, _shear_energy); // initial energy
@@ -481,6 +482,7 @@ FixedwingPositionINDIControl::_select_trajectory(float initial_energy)
strcat(file,gcvt(e, 3, e_str));
strcat(file,".csv");
PX4_INFO("filename: \t%.30s", file);
*/
// select loiter trajectory for loiter test
char filename[16];
@@ -534,8 +536,8 @@ 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");