diff --git a/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml b/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml index ccb63c8d161409967bd8c20b9074d7bdda110517..d529233646db9da3c211c014156fa04e12114a3a 100644 --- a/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml +++ b/real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml @@ -1,16 +1,16 @@ crazyflies: -- id: 1 - channel: 90 - initialPosition: [0.0, 0.0, 0.0] - type: default -- id: 2 - channel: 90 - initialPosition: [0.0, 0.0, 0.0] - type: default -# - id: 3 -# channel: 80 +# - id: 1 +# channel: 90 # initialPosition: [0.0, 0.0, 0.0] # type: default +# - id: 2 +# channel: 90 +# initialPosition: [0.0, 0.0, 0.0] +# type: default +- id: 3 + channel: 80 + initialPosition: [0.0, 0.0, 0.0] + type: default # - id: 4 # channel: 80 # initialPosition: [0.0, 0.0, 0.0] diff --git a/real_robot/crazyswarm/src/crazyswarm_server.cpp b/real_robot/crazyswarm/src/crazyswarm_server.cpp index 441db7d7e984a50cd5535f2a0b9ca2a68edbffb4..df7d94fc34a351f05d90f6fc1ccd32344380a13b 100644 --- a/real_robot/crazyswarm/src/crazyswarm_server.cpp +++ b/real_robot/crazyswarm/src/crazyswarm_server.cpp @@ -491,7 +491,7 @@ public: float yawRate = msg->yawrate; float zDistance = msg->zDistance; - // m_cf.sendzDistanceSetpoint(roll, pitch, yawRate, zDistance); + m_cf.sendzDistanceSetpoint(roll, pitch, yawRate, zDistance); m_cf.testfunction(); //ROS_INFO("set a hover setpoint");