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Fixed leader drone not responding in land mode

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Xuan0319
2023-02-08 21:53:01 +08:00
parent eec2609f88
commit d1280cf656
11 changed files with 145 additions and 70 deletions
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class_model/include/class_model/formation.h
+4 -3
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@@ -51,11 +51,12 @@ private:
global_location leader_location;
global_location current_location;
velocity drone_speed;
int flag = 0,heading_status = 0;
int flag = 0,heading_status = 0,buf = 0;
float pre_alt,cur_alt;
float leader_pid[3] = {0.5 , 0.000000000001 ,0.5};
float error_lon,error_lat;
float leader_pid[3] = {1 , 0.000000000001 ,0.5};
float follower_pid[3] = {1 , 0.00000000001 ,0.5};
float ignore_small = 0.20;
float ignore_small = 0.50;
void calculate_position(float k,float theta,int direction=0);
void spherical_coordinate(float k,float theta,float psi);