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change starting polar coordinates

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Sem van der Hoeven
2023-05-15 17:30:18 +02:00
parent 9c7c90653d
commit c95191af5f
1 changed files with 2 additions and 2 deletions
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4
src/px4_connection/src/px4_controller.cpp
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@@ -105,9 +105,9 @@ private:
const float omega = 0.3; // angular speed of the POLAR trajectory 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 = 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 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_x = rho_0 * cos(theta_0);
float p0_y = rho_0 * sin(theta_0); float p0_y = rho_0 * sin(theta_0);
float des_x = p0_x, des_y = p0_y, des_z = p0_z; float des_x = p0_x, des_y = p0_y, des_z = p0_z;