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uzh-rpg / rpg_quadrotor_control

Quadrotor control framework developed by the Robotics and Perception Group
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fixed conditions for updating the go to pose fields #69

Closed mfaessle closed 6 years ago

mfaessle commented 6 years ago

So instead of explaining what I mean I think it was easier to just do it ;) This fixes the condition when the go to pose fields are updated. I.e. you want to enable an not update the fields only if the current autopilot state and the previous autopilot state are HOVER, otherwise the fields are disabled but updated with the current reference state. I also removed the sign in those fields which I find confusing in those small fields. So it only displays a sign if the number is negative

mfaessle commented 6 years ago

No it is not. Now it is, additionally to when it switches to hover, also updating when it is not in hover, which was not the case before. For such cases I usually draw a matrix with the 4 possible combinations of the two conditions and write down for each combination what the desired behavior is. Then it is simpler to figure out the right conditions to implement.

kohlerj commented 6 years ago

Got it, you wanted to update the fields as the quad is in movement... Mine did only one update when returning to hover.

mfaessle commented 6 years ago

I though that's what you originally intended ;) so now it is doing that but also does the update after breaking.