From fad974d5ebb9a7a652af0e0b4768965bd48c09af Mon Sep 17 00:00:00 2001 From: Xuan0319 Date: Wed, 30 Aug 2023 11:15:56 +0800 Subject: [PATCH] final update --- class_model/include/class_model/formation.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/class_model/include/class_model/formation.h b/class_model/include/class_model/formation.h index f0b388f..8358796 100755 --- a/class_model/include/class_model/formation.h +++ b/class_model/include/class_model/formation.h @@ -55,8 +55,8 @@ private: int flag = 0,heading_status = 0,buf = 0; float pre_alt,cur_alt; float error_lon,error_lat; - float leader_pid[3] = {1 , 0.000000000001 ,0}; - float follower_pid[3] = {1 , 0.00000000001 ,0}; + float leader_pid[3] = {0.5 , 0.000001 ,0.001}; + float follower_pid[3] = {0.5 , 0.000001 ,0.001}; float ignore_small = 0.50; void calculate_position(float k,float theta,int direction=0); @@ -71,4 +71,4 @@ private: }; -#endif // FORMATION_H \ No newline at end of file +#endif // FORMATION_H