for experiment(NB give command)

2023-01-03 22:07:45 +08:00
parent bfe4da4912
commit 5c17c5ee7f
4 changed files with 40 additions and 22 deletions
@@ -55,6 +55,7 @@ private:
    float pre_alt,cur_alt;
    float leader_pid[3] = {0.5 , 0.000000000001 ,0.5};
    float follower_pid[3] = {1 , 0.00000000001 ,0.5};
+    float ignore_small = 0.20;

    void calculate_position(float k,float theta,int direction=0);
    void spherical_coordinate(float k,float theta,float psi);