pushin

real_robot/coordination_formation_control_pkg/config/crazyfliesConfig.yaml

@@ -3,10 +3,10 @@ crazyflies:
   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: 2
+#   channel: 90
+#   initialPosition: [0.0, 0.0, 0.0]
+#   type: default
 # - id: 3
 #   channel: 80
 #   initialPosition: [0.0, 0.0, 0.0]

real_robot/coordination_formation_control_pkg/config/missionConfig.yaml

-n_drones: 2
+n_drones: 1
 n_ugvs: 0
 hz_freq: 50 # controller frquency
 mass: 33 # grams
 include_obstacle: false
 include_orientation: false
 n_obs: 0
-log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_6/experiment_6_trianglular_no_formation"
+log_name: "/home/spot/steven_master_ws/src/coordination_formation_control_pkg/results/experiment_7/test"
 enable_log: true
 
 # waypoint

real_robot/coordination_formation_control_pkg/launch/mission_controller.launch

@@ -13,10 +13,10 @@
        </node>
    </group>
 
-   <group ns="uav_2">
+   <!-- <group ns="uav_2">
         <node name="drone_node" pkg="coordination_formation_control_pkg" type="drone_node" output="screen" args="2" launch-prefix="xterm -e">
         </node>
-    </group>
+    </group> -->
     <!-- <group ns="uav_3">
          <node name="drone_node" pkg="coordination_formation_control_pkg" type="drone_node" output="screen" args="3" launch-prefix="xterm -e">
          </node>

real_robot/coordination_formation_control_pkg/src/drone_node.cpp

@@ -342,8 +342,8 @@ int main(int argc, char **argv) {
           row_vector_2d_t range;
           range << -0.15, 0.15;
           row_vector_2d_t out = saturate(in, range);
-          current_command.roll = out(0)/mass; // conver it to the desired angle
-          current_command.pitch = out(1)/mass;
+          // current_command.roll = out(0)/mass; // conver it to the desired angle
+          // current_command.pitch = out(1)/mass;
           // vxx = vxl;
           // vyy = vyl;
         }

simulation/untitled.asv

-A = [3 1 5;
-    6 2 6];
-B = [6;4;-1];
-C = [2 4; 3 6; -1 2];
-D = [5 1; 3 1]
-E = [3 -2; 1 4]
-F = [2 1 3; 5 7 -2]
-
-A + F
-E-D 
-C+B
-C*D
-A*F
-C'
-F'*E
\ No newline at end of file