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Better control config

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This commit is contained in:
lhark 2016-06-17 03:44:30 +02:00
parent 77d16e098a
commit e18683fd42
1 changed files with 3 additions and 1 deletions
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4
src/control.cpp
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@ -12,6 +12,8 @@ using namespace std;
class Drone_control { class Drone_control {
public: public:
constexpr static float MAX_ANG_VEL = 0.3;
ros::NodeHandle n; ros::NodeHandle n;
ros::Publisher pub_cmd; ros::Publisher pub_cmd;
ros::Publisher pub_takeoff; ros::Publisher pub_takeoff;
@ -58,7 +60,7 @@ class Drone_control {
int moy = 0; int moy = 0;
for (const auto& d : decision_acc) for (const auto& d : decision_acc)
moy += d; 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); pub_cmd.publish(twist);