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Commit 36dfbc95 authored by Stevedan Ogochukwu Omodolor's avatar Stevedan Ogochukwu Omodolor
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corrected units

parent 079d892a
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......@@ -89,15 +89,15 @@ void robotState::stateCallbackUgvPose(const geometry_msgs::PoseConstPtr &pose_ms
}
void robotState::stateCallbackUavVel(const crazyswarm::GenericLogDataConstPtr &vel_msg)
{
this->state.p(0) = vel_msg->values[0];
this->state.p(1) = vel_msg->values[1];
this->state.p(2) = vel_msg->values[2];
this->state.p(0) = vel_msg->values[0]/1000.0;
this->state.p(1) = vel_msg->values[1]/1000.0;
this->state.p(2) = vel_msg->values[2]/1000.0;
}
void robotState::stateCallbackUavPos(const crazyswarm::GenericLogDataConstPtr &pose_msg)
{
this->state.q(0) = pose_msg->values[0];
this->state.q(1) = pose_msg->values[1];
this->state.q(2) = pose_msg->values[2];
this->state.q(0) = pose_msg->values[0]/1000.0;
this->state.q(1) = pose_msg->values[1]/1000.0;
this->state.q(2) = pose_msg->values[2]/1000.0;
this->state.q(3) = pose_msg->values[3]; // degres
}
......@@ -113,7 +113,7 @@ void robotState::stateCallbackUgvAcc(const geometry_msgs::Vector3ConstPtr &acc_m
void robotState::stateCallbackUavAcc(const crazyswarm::GenericLogDataConstPtr &Acc_msg)
{
this->state.a(0) = Acc_msg->values[0];
this->state.a(1) = Acc_msg->values[1];
this->state.a(2) = Acc_msg->values[2];
this->state.a(0) = Acc_msg->values[0]/1000.0;
this->state.a(1) = Acc_msg->values[1]/1000.0;
this->state.a(2) = Acc_msg->values[2]/1000.0;
}
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