takeoff working with steppeble clock

Kjell-K · Aug 13, 2017 · 5cedfe4 · 5cedfe4
1 parent fa93242
commit 5cedfe4
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Showing 4 changed files with 10 additions and 10 deletions.
diff --git a/AirLib/include/firmwares/simple_flight/SimpleFlightDroneController.hpp b/AirLib/include/firmwares/simple_flight/SimpleFlightDroneController.hpp
@@ -334,7 +334,7 @@ class SimpleFlightDroneController : public DroneControllerBase {
         Settings rc_settings;
         simple_flight_settings.getChild("RC", rc_settings);
         params_.rc.allow_api_when_disconnected = 
-            simple_flight_settings.getBool("AllowAPIWhenDisconnected", false);
+            rc_settings.getBool("AllowAPIWhenDisconnected", false);
 
     }
 

diff --git a/AirLib/include/physics/FastPhysicsEngine.hpp b/AirLib/include/physics/FastPhysicsEngine.hpp
@@ -90,8 +90,8 @@ class FastPhysicsEngine : public PhysicsEngineBase {
             updateCollisonResponseInfo(collison_info, next, is_collison_response, collison_response_info);
         }
 
-        Utils::log(Utils::stringf("T-VEL %s %" PRIu64 ": ", 
-            VectorMath::toString(next.twist.linear).c_str(), clock()->getStepCount()));
+        //Utils::log(Utils::stringf("T-VEL %s %" PRIu64 ": ", 
+        //    VectorMath::toString(next.twist.linear).c_str(), clock()->getStepCount()));
 
         body.setKinematics(next);
         body.setWrench(next_wrench);
@@ -203,7 +203,7 @@ class FastPhysicsEngine : public PhysicsEngineBase {
 
         next_wrench = Wrench::zero();
 
-        Utils::log(Utils::stringf("*** C-VEL %s: ", VectorMath::toString(next.twist.linear).c_str()));
+        //Utils::log(Utils::stringf("*** C-VEL %s: ", VectorMath::toString(next.twist.linear).c_str()));
 
         return true;
     }
@@ -310,8 +310,8 @@ class FastPhysicsEngine : public PhysicsEngineBase {
 
         next_wrench = body_wrench + drag_wrench;
 
-        Utils::log(Utils::stringf("B-WRN %s: ", VectorMath::toString(body_wrench.force).c_str()));
-        Utils::log(Utils::stringf("D-WRN %s: ", VectorMath::toString(drag_wrench.force).c_str()));
+        //Utils::log(Utils::stringf("B-WRN %s: ", VectorMath::toString(body_wrench.force).c_str()));
+        //Utils::log(Utils::stringf("D-WRN %s: ", VectorMath::toString(drag_wrench.force).c_str()));
 
         /************************* Update accelerations due to force and torque ************************/
         //get new acceleration due to force - we'll use this acceleration in next time step
@@ -349,8 +349,8 @@ class FastPhysicsEngine : public PhysicsEngineBase {
 
         computeNextPose(dt, current.pose, avg_linear, avg_angular, next);
 
-        Utils::log(Utils::stringf("N-VEL %s %f: ", VectorMath::toString(next.twist.linear).c_str(), dt));
-        Utils::log(Utils::stringf("N-POS %s %f: ", VectorMath::toString(next.pose.position).c_str(), dt));
+        //Utils::log(Utils::stringf("N-VEL %s %f: ", VectorMath::toString(next.twist.linear).c_str(), dt));
+        //Utils::log(Utils::stringf("N-POS %s %f: ", VectorMath::toString(next.pose.position).c_str(), dt));
 
     }
 

diff --git a/AirLib/src/controllers/DroneControllerBase.cpp b/AirLib/src/controllers/DroneControllerBase.cpp
@@ -226,7 +226,7 @@ bool DroneControllerBase::moveOnPath(const vector<Vector3r>& path, float velocit
                 float error = (actual_vect - actual_on_goal).norm() * adaptive_lookahead;
                 if (error > lookahead_error) {
                     lookahead_error_increasing++;
-                    if (lookahead_error_increasing > 100) {
+                    if (lookahead_error_increasing > 1E5) {
                         throw std::runtime_error("lookahead error is continually increasing so we do not have safe control, aborting moveOnPath operation");
                     }
                 }

diff --git a/Unreal/Plugins/AirSim/Source/MultiRotorConnector.cpp b/Unreal/Plugins/AirSim/Source/MultiRotorConnector.cpp
@@ -131,7 +131,7 @@ float MultiRotorConnector::joyStickToRC(int16_t val)
 
 void MultiRotorConnector::updateRenderedState()
 {
-    Utils::log("------Render tick-------");
+    //Utils::log("------Render tick-------");
 
     //move collison info from rendering engine to vehicle
     const CollisionInfo& collision_info = vehicle_pawn_->getCollisonInfo();