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Rename Mavic gyro variables to velocity #5927

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Feb 21, 2023
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Rename Mavic gyro variables to velocity #5927

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12 changes: 6 additions & 6 deletions projects/robots/dji/mavic/controllers/mavic2pro/mavic2pro.c
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Original file line number Diff line number Diff line change
Expand Up @@ -113,17 +113,17 @@ int main(int argc, char **argv) {
const double roll = wb_inertial_unit_get_roll_pitch_yaw(imu)[0];
const double pitch = wb_inertial_unit_get_roll_pitch_yaw(imu)[1];
const double altitude = wb_gps_get_values(gps)[2];
const double roll_acceleration = wb_gyro_get_values(gyro)[0];
const double pitch_acceleration = wb_gyro_get_values(gyro)[1];
const double roll_velocity = wb_gyro_get_values(gyro)[0];
const double pitch_velocity = wb_gyro_get_values(gyro)[1];

// Blink the front LEDs alternatively with a 1 second rate.
const bool led_state = ((int)time) % 2;
wb_led_set(front_left_led, led_state);
wb_led_set(front_right_led, !led_state);

// Stabilize the Camera by actuating the camera motors according to the gyro feedback.
wb_motor_set_position(camera_roll_motor, -0.115 * roll_acceleration);
wb_motor_set_position(camera_pitch_motor, -0.1 * pitch_acceleration);
wb_motor_set_position(camera_roll_motor, -0.115 * roll_velocity);
wb_motor_set_position(camera_pitch_motor, -0.1 * pitch_velocity);

// Transform the keyboard input to disturbances on the stabilization algorithm.
double roll_disturbance = 0.0;
Expand Down Expand Up @@ -163,8 +163,8 @@ int main(int argc, char **argv) {
}

// Compute the roll, pitch, yaw and vertical inputs.
const double roll_input = k_roll_p * CLAMP(roll, -1.0, 1.0) + roll_acceleration + roll_disturbance;
const double pitch_input = k_pitch_p * CLAMP(pitch, -1.0, 1.0) + pitch_acceleration + pitch_disturbance;
const double roll_input = k_roll_p * CLAMP(roll, -1.0, 1.0) + roll_velocity + roll_disturbance;
const double pitch_input = k_pitch_p * CLAMP(pitch, -1.0, 1.0) + pitch_velocity + pitch_disturbance;
const double yaw_input = yaw_disturbance;
const double clamped_difference_altitude = CLAMP(target_altitude - altitude + k_vertical_offset, -1.0, 1.0);
const double vertical_input = k_vertical_p * pow(clamped_difference_altitude, 3.0);
Expand Down