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uodate plane vtol and rover

This commit is contained in:
robin_shaun 2021-04-24 11:30:18 +08:00
parent 250f0e8e66
commit ceccefb311
3 changed files with 3 additions and 3 deletions
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2
communication/vtol_communication.py
View File

@ -236,7 +236,7 @@ class Communication:
def hover(self):
self.coordinate_frame = 1
self.motion_type = 0
self.target_motion = self.construct_target(x=self.local_pose.position.x,y=self.local_pose.position.y,z=self.local_pose.position.z,yaw=self.current_heading,yaw=self.current_yaw)
self.target_motion = self.construct_target(x=self.local_pose.position.x,y=self.local_pose.position.y,z=self.local_pose.position.z,yaw=self.current_yaw)
def flight_mode_switch(self):
if self.flight_mode == 'HOVER':

2
control/keyboard/plane_keyboard_control.py
View File

@ -7,7 +7,7 @@ from std_msgs.msg import String
MAX_LINEAR = 1000
MAX_ANG_VEL = 0.5
LINEAR_STEP_SIZE = 0.1
LIN_VEL_STEP_SIZE = 0.1
ANG_VEL_STEP_SIZE = 0.01

2
control/keyboard/rover_keyboard_controlller.py
View File

@ -163,7 +163,7 @@ if __name__=="__main__":
elif angle < -MAX_ANGLE:
angle = -MAX_ANGLE
twist.linear.x = forward; twist.linear.y = angle
twist.linear.x = forward; twist.angular.z = angle
for i in range(rover_num):
if ctrl_leader: