From f986c39b9de9a0ec09db6dfa17c2ab33d3b308f0 Mon Sep 17 00:00:00 2001
From: StaY <stephane.yang@ensea.fr>
Date: Tue, 10 Oct 2023 11:29:06 +0200
Subject: [PATCH] update fly_monitor to hava a slower writing thread, but less
limit on movement control
---
Com_server/fly_monitor/src/Com_SerialWritingThread.cpp | 4 ++--
Com_server/fly_monitor/src/Data_Drone.cpp | 8 ++++----
Com_server/fly_monitor/src/TestDroneRemoteControl.cpp | 2 +-
3 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/Com_server/fly_monitor/src/Com_SerialWritingThread.cpp b/Com_server/fly_monitor/src/Com_SerialWritingThread.cpp
index cdaf949..9fd26cf 100644
--- a/Com_server/fly_monitor/src/Com_SerialWritingThread.cpp
+++ b/Com_server/fly_monitor/src/Com_SerialWritingThread.cpp
@@ -174,7 +174,7 @@ int Serial_Port_WritingThread::main_loop(struct timeval *front_msg, struct timev
drone1.command_directControl(-blc_control_motors.floats[0]
,blc_control_motors.floats[1]
,blc_control_motors.floats[4]
- ,-blc_control_motors.floats[2]);
+ ,- 2 * blc_control_motors.floats[2]);
//*/
// Control directly
@@ -190,7 +190,7 @@ int Serial_Port_WritingThread::main_loop(struct timeval *front_msg, struct timev
std::cout << "x = " << - blc_control_motors.floats[0]
<< ", y = " << blc_control_motors.floats[1]
<< ", z = " << blc_control_motors.floats[4]
- << ", r = " << - blc_control_motors.floats[2]
+ << ", r = " << - 2 * blc_control_motors.floats[2]
<< std::endl;
std::cout << "Drone is not armed, can't control" << std::endl;
}
diff --git a/Com_server/fly_monitor/src/Data_Drone.cpp b/Com_server/fly_monitor/src/Data_Drone.cpp
index e896c0a..2c93207 100644
--- a/Com_server/fly_monitor/src/Data_Drone.cpp
+++ b/Com_server/fly_monitor/src/Data_Drone.cpp
@@ -997,12 +997,12 @@ int Drone::command_directControl(float x, float y, float z, float r)
if (x > upper_limit) x = upper_limit;
if (x < lower_limit) x = lower_limit;
- if (y > upper_limit) y = upper_limit;
- if (y < lower_limit) y = lower_limit;
+ if (y > 1.f) y = 1.f;
+ if (y < -1.f) y = -1.f;
if (z > 1.f ) z = 1.f;
if (z < -1.f) z = -1.f;
- if (r > upper_limit) r = upper_limit;
- if (r < lower_limit) r = lower_limit;
+ if (r > 1.f) r = 1.f;
+ if (r < -1.f) r = -1.f;
xx=static_cast<int16_t>(x * 1000);
yy=static_cast<int16_t>(y * 1000);
diff --git a/Com_server/fly_monitor/src/TestDroneRemoteControl.cpp b/Com_server/fly_monitor/src/TestDroneRemoteControl.cpp
index cc0fff6..2c996b3 100644
--- a/Com_server/fly_monitor/src/TestDroneRemoteControl.cpp
+++ b/Com_server/fly_monitor/src/TestDroneRemoteControl.cpp
@@ -862,7 +862,7 @@ int main(int argc, char *argv[])
compassx.open("compassx.txt");
compassy.open("compassy.txt");
- writingThread = shared_ptr<Serial_Port_WritingThread>(new Serial_Port_WritingThread(50000, 1000));
+ writingThread = shared_ptr<Serial_Port_WritingThread>(new Serial_Port_WritingThread(70000, 1000));
readingThread = shared_ptr<Serial_Port_ReadingThread>(new Serial_Port_ReadingThread(1000, 1000));
cout << "Welcome to pixhawk server" << endl;
--
GitLab