From e18683fd42f98b3458caad7fa251a1161b43818b Mon Sep 17 00:00:00 2001
From: lhark <lhark@hotmail.fr>
Date: Fri, 17 Jun 2016 03:44:30 +0200
Subject: [PATCH] Better control config

---
 src/control.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/control.cpp b/src/control.cpp
index 7ce4e37..242d4c0 100644
--- a/src/control.cpp
+++ b/src/control.cpp
@@ -12,6 +12,8 @@ using namespace std;
 
 class Drone_control {
 	public:
+		constexpr static float MAX_ANG_VEL = 0.3;
+
 		ros::NodeHandle n;
 		ros::Publisher pub_cmd;
 		ros::Publisher pub_takeoff;
@@ -58,7 +60,7 @@ class Drone_control {
 				int moy = 0;
 				for (const auto& d : decision_acc)
 					moy += d;
-				twist.angular.z = moy / (float)NB_ACC * 0.3;
+				twist.angular.z = moy / (float)NB_ACC * MAX_ANG_VEL;
 			}
 
 			pub_cmd.publish(twist);