Commit 2230dbf3 by yean

Square and hover trajectory working, probably final change

parent 96a4f201
 ... ... @@ -43,8 +43,8 @@ function [WPs] = splineTogether(coarseWPs, dt) end %% 3) Combine Data into a single WPs variable %WPs = [x_all', y_all', z_all', vx_all', vy_all', vz_all']; WPs = [x_all', y_all', z_all', zeros(size(x_all', 1), 1), zeros(size(x_all', 1), 1), zeros(size(x_all', 1), 1)]; WPs = [x_all', y_all', z_all', vx_all', vy_all', vz_all']; %WPs = [x_all', y_all', z_all', zeros(size(x_all', 1), 1), zeros(size(x_all', 1), 1), zeros(size(x_all', 1), 1)]; end
 ... ... @@ -77,7 +77,7 @@ function [params] = setUpParameters_OneQuad(traj_num) %% Offset in position %params.multirotors{1}.x0(1:3) = params.multirotors{1}.x0(1:3) + [0.1;0.1;0.1]; %params.multirotors{1}.x0(1:3) = params.multirotors{1}.x0(1:3) + [0.1; 0.1; 0.1]; %10 cm offset params.multirotors{1}.x0(1:3) = params.multirotors{1}.x0(1:3) + [0.2;0.2; 0.2]; %20 cm offset %params.multirotors{1}.x0(1:3) = params.multirotors{1}.x0(1:3) + [0.2;0.2; 0.2]; %20 cm offset %params.multirotors{1}.x0(1:3) = params.multirotors{1}.x0(1:3) + [0.22;0.22; 0.22]; %22 cm offset %%Simulation starts breaking at an offset of 23 cm ... ...
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 ... ... @@ -8,7 +8,7 @@ addpath(genpath(pwd)); %% Set up Parameters traj_num = 1; traj_num = 2; params = setUpParameters_OneQuad(traj_num); params.num_vehicles = 1; ... ...
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