set gain to 0

2023-05-15 19:10:50 +02:00
parent 4fa2387c85
commit 0935a1b328
1 changed files with 1 additions and 1 deletions
--- a/src/px4_connection/src/px4_controller.cpp
+++ b/src/px4_connection/src/px4_controller.cpp
@@ -103,7 +103,7 @@ private:

    bool start_trajectory = false;
    const float omega = 0.3; // angular speed of the POLAR trajectory
-    const float K = 2;       // [m] gain that regulates the spiral pitch
+    const float K = 0;       // [m] gain that regulates the spiral pitch

    float rho_0 = 0;
    float theta_0 = 0;