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final update

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Xuan0319
2023-08-30 11:15:56 +08:00
parent 5b67deb0c6
commit fad974d5eb
1 changed files with 3 additions and 3 deletions
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class_model/include/class_model/formation.h
+2 -2
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@@ -55,8 +55,8 @@ private:
int flag = 0,heading_status = 0,buf = 0; int flag = 0,heading_status = 0,buf = 0;
float pre_alt,cur_alt; float pre_alt,cur_alt;
float error_lon,error_lat; float error_lon,error_lat;
float leader_pid[3] = {1 , 0.000000000001 ,0}; float leader_pid[3] = {0.5 , 0.000001 ,0.001};
float follower_pid[3] = {1 , 0.00000000001 ,0}; float follower_pid[3] = {0.5 , 0.000001 ,0.001};
float ignore_small = 0.50; float ignore_small = 0.50;
void calculate_position(float k,float theta,int direction=0); void calculate_position(float k,float theta,int direction=0);