Commit ad5418f7 authored by Ian McInerney's avatar Ian McInerney

Updated the groundstation for the new VRPN server

parent c7cb01b8
......@@ -157,7 +157,7 @@ int main(int argc, char **argv) {
crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_Y] );
usleep(1000);
crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_Z] );
/* usleep(1000);
usleep(1000);
crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_ROLL] );
usleep(1000);
crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_PITCH] );
......@@ -169,7 +169,7 @@ int main(int argc, char **argv) {
crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_PITCH_RATE] );
usleep(1000);
crazyflie_info[i].cflieCopter->sendPID_Constants( crazyflie_info[i].pidParams[PID_YAW_RATE] );
*/
usleep(1000);
// Only do this for the RADA motors
// struct PID_ControllerParams armMotors = {0.0, 0.0, 0.0, 0.0, 9};
......@@ -269,8 +269,8 @@ int main(int argc, char **argv) {
#if USE_HAND
vrpn_init("192.168.0.120:3883", handle_hand);
#else
// vrpn_init("192.168.0.120:3883", NULL);
vrpn_init("localhost:3883", NULL);
vrpn_init("192.168.0.194:3883", NULL);
// vrpn_init("localhost:3883", NULL);
#endif // END USE_HAND
usleep(10000);
......@@ -316,7 +316,7 @@ int main(int argc, char **argv) {
pthread_create(&threads[i++], NULL, UIThread, (void*)1);
pthread_create(&threads[i++], NULL, vrpn_go, (void*)2);
// pthread_create(&threads[i++], NULL, displayData, (void*)3);
pthread_create(&threads[i++], NULL, displayData, (void*)3);
for (int j=0; j<NUM_RADIOS; j++) {
pthread_create(&threads[i+j], NULL, CCrazyRadio::startThread, (void*) radios[j].radio );
}
......
......@@ -13,8 +13,8 @@
int quad1_numTakeoffSteps = 3;
takeoffProfileStep quad1_takeoffSteps[] = {
{19000, step_time, 1},
// {50000, step_height, -0.3},
{52000, step_time, 5},
{50000, step_height, -0.3},
// {50000, step_time, 5},
{48739, step_final, 0}
};
......@@ -135,9 +135,9 @@ QUADCOPTERS_t crazyflie_info[] = {
NULL,
NULL,
// 75,
100,//swapped 1,2
// 100,//swapped 1,2
// 80,
// 45,
45,
0,
XFER_2M,
0,
......@@ -198,7 +198,7 @@ QUADCOPTERS_t crazyflie_info[] = {
{70.0, 16.7, 0.0, 166.7, PID_YAW_RATE}
*/ {6.0, 1.0, 0.0, 20.0, PID_ROLL},
{6.0, 1.0, 0.0, 20.0, PID_PITCH},
{6.0, 1.0, 0.35, 360.0, PID_YAW},
{6.0, 2.0, 0.35, 360.0, PID_YAW},
{250.0, 500.0, 2.5, 33.3, PID_ROLL_RATE},
{250.0, 500.0, 2.5, 33.3, PID_PITCH_RATE},
{70.0, 16.7, 0.0, 166.7, PID_YAW_RATE}
......
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