From 0935a1b328a06733aea580fc7ead9b392cfc805c Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Mon, 15 May 2023 19:10:50 +0200
Subject: [PATCH] set gain to 0

---
 src/px4_connection/src/px4_controller.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp
index 844f2bfb..6deb1fed 100644
--- 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;