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drone_controller
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changes to stacked and vel

This commit is contained in:
franchioping 2026-04-02 17:41:45 +01:00
parent ede403613d
commit be4040adc5
2 changed files with 13 additions and 2 deletions
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13
src/stacked.rs
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@ -110,7 +110,18 @@ impl DroneController for StackedController {
let angular_rate_setpoint = if self.input.mode != ModeInput::Acro { let angular_rate_setpoint = if self.input.mode != ModeInput::Acro {
let rotation_setpoint = if self.input.mode != ModeInput::Rotation { let rotation_setpoint = if self.input.mode != ModeInput::Rotation {
let lin_accel_setpoint = if self.input.mode != ModeInput::Acceleration { let lin_accel_setpoint = if self.input.mode != ModeInput::Acceleration {
panic!("Not Implemented") let lin_vel_setpoint: Velocity = if self.input.mode != ModeInput::Velocity {
println!("LAYER NOT IMPLENETED. TAKING 0 AS INPUT;");
Velocity(na::Vector3::zeros())
} else {
Velocity(na::vector![
self.input.velocity.x,
self.input.velocity.y,
self.input.velocity.z
])
};
self.linvel_rt
.update(lin_vel_setpoint, &self.drone_state, frame_dt)
} else { } else {
Acceleration(na::vector![ Acceleration(na::vector![
self.input.acceleration.x, self.input.acceleration.x,

2
src/stacked/mixer.rs
View File

@ -7,7 +7,7 @@ pub enum MotorMixingMode {
} }
impl Default for MotorMixingMode { impl Default for MotorMixingMode {
fn default() -> Self { fn default() -> Self {
Self::ThrottleAuthorityReasonable { min_scale: 0.1 } Self::ThrottleAuthorityReasonable { min_scale: 0.05 }
} }
} }