max/new_thea
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update

Browse Source
This commit is contained in:
Max 2021-09-21 17:55:01 +01:00
parent 84d1cbb68d
commit 57b3b47f3d
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
Control/Pi/dronekit_class.py
View File

@ -139,7 +139,7 @@ class DroneInterface:
self.log.error(f"Error in verify_compass: {e}") self.log.error(f"Error in verify_compass: {e}")
return False return False
def throttle_limiter(self, throttle, upper=1940, lower=1060): def throttle_limiter(self, throttle, upper=1970, lower=1060):
if throttle > upper: if throttle > upper:
throttle = upper throttle = upper
if throttle < lower: if throttle < lower:
@ -354,7 +354,7 @@ class DroneInterface:
error = error * proportional * integral * derivative error = error * proportional * integral * derivative
steering = remap(error, -90, 90, 1000, 2000) steering = remap(error, -90, 90, 1000, 2000)
self.log.warning(f"Bearing: {bearing_to_target}, Heading: {current_heading}, Error: {error}, Steering: {steering}") self.log.warning(f"Bearing: {bearing_to_target}, Heading: {current_heading}, Error: {error}, Steering: {steering}")
self.set_vehicle_steering_and_speed(steering, 1910) self.set_vehicle_steering_and_speed(steering, 1940)
time.sleep(0.3) time.sleep(0.3)
else: else:
self.log.error("Incorrect vehicle State!") self.log.error("Incorrect vehicle State!")