From 3527377bc7c3bdf3d6361c9f722d1dd5d6173f3a Mon Sep 17 00:00:00 2001
From: StaY <stephane.yang@ensea.fr>
Date: Thu, 19 Oct 2023 15:32:07 +0200
Subject: [PATCH] fly_monitor update: bit of code adjustment with updated
comment
---
.../src/Com_SerialWritingThread.cpp | 35 +++++++++----------
1 file changed, 16 insertions(+), 19 deletions(-)
diff --git a/Com_server/fly_monitor/src/Com_SerialWritingThread.cpp b/Com_server/fly_monitor/src/Com_SerialWritingThread.cpp
index 9fd26cf..97e4596 100644
--- a/Com_server/fly_monitor/src/Com_SerialWritingThread.cpp
+++ b/Com_server/fly_monitor/src/Com_SerialWritingThread.cpp
@@ -156,43 +156,40 @@ int Serial_Port_WritingThread::main_loop(struct timeval *front_msg, struct timev
// Position control mode
if (drone1.flight_mode == FlightMode::Posctl)
{
+ // See "drone_joyRemote" or "drone" promethe script to check if the order below is correct when you launch them
/*
- motors: 0 -> vertical (forward to backward) [-1.0 to 1.0]
- 1 -> horizontal (left to right) [-1.0 to 1.0]
- 2 -> rotation (ccw to cw) [-1.0 to 1.0]
- ~~3 -> gas direct (no control) [1.0 to -1.0]~~ (can be used but not advised here)
- 4 -> altitude command (controlled throttle) [0.0 to 1.0]
+ blc_control_motors:
+ 0 -> vertical (forward to backward) [-1.0 to 1.0]
+ 1 -> horizontal (left to right) [-1.0 to 1.0]
+ 2 -> rotation (ccw to cw) [-1.0 to 1.0]
+ ~~3 -> gas direct (no control) [1.0 to -1.0]~~ (can be used but not advised here)
+ 4 -> altitude command (controlled throttle) [0.0 to 1.0]
x = pitch -> forward(1000), backward(-1000)
y = roll -> right(1000), left(-1000)
z = thrust -> max gas (1000), no gas (-1000) (0 means enough gas so that there is no thrust but also means you want to land)
r = yaw -> CCW(1000), CW(-1000)
*/
+ float xx = -blc_control_motors.floats[0];
+ float yy = blc_control_motors.floats[1];
+ float zz = blc_control_motors.floats[4]; // command from altitude control
+ float zz_direct = -0.5f * blc_control_motors.floats[3] + 0.5f; // control gas with throttle axis
+ float rr = - 2 * blc_control_motors.floats[2];
if(drone1.motors == ARM)
{
// Control in altitude
///*
- drone1.command_directControl(-blc_control_motors.floats[0]
- ,blc_control_motors.floats[1]
- ,blc_control_motors.floats[4]
- ,- 2 * blc_control_motors.floats[2]);
+ drone1.command_directControl(xx,yy,zz,rr);
//*/
// Control directly
/*
- drone1.command_directControl(-blc_control_motors.floats[0]
- ,blc_control_motors.floats[1]
- ,-0.5f * blc_control_motors.floats[3] + 0.5f
- ,-blc_control_motors.floats[2]);
+ drone1.command_directControl(xx,yy,zz_direct,rr);
//*/
}
else
{
- std::cout << "x = " << - blc_control_motors.floats[0]
- << ", y = " << blc_control_motors.floats[1]
- << ", z = " << blc_control_motors.floats[4]
- << ", r = " << - 2 * blc_control_motors.floats[2]
- << std::endl;
- std::cout << "Drone is not armed, can't control" << std::endl;
+ std::cout << "x = " << xx << ", y = " << yy << ", z = " << zz << ", r = " << rr << std::endl;
+ std::cout << "Drone is not armed, can't control. You can type 'reset' to stop this print." << std::endl;
}
}
--
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