Commit 2230dbf3 authored by yean's avatar yean
Browse files

Square and hover trajectory working, probably final change

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