From c95191af5fffb3b23d63fa90f9ffd98d52f55d99 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 15 May 2023 17:30:18 +0200 Subject: [PATCH] change starting polar coordinates --- src/px4_connection/src/px4_controller.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp index 5253fb1a..4e4cb08d 100644 --- a/src/px4_connection/src/px4_controller.cpp +++ b/src/px4_connection/src/px4_controller.cpp @@ -105,9 +105,9 @@ private: const float omega = 0.3; // angular speed of the POLAR trajectory const float K = 2; // [m] gain that regulates the spiral pitch - const float rho_0 = 2; + const float rho_0 = 0; const float theta_0 = 0; - const float p0_z = -5.0; + const float p0_z = -0.0; float p0_x = rho_0 * cos(theta_0); float p0_y = rho_0 * sin(theta_0); float des_x = p0_x, des_y = p0_y, des_z = p0_z;