diff --git a/src/boards/Parafoil/Configs/WingConfig.h b/src/boards/Parafoil/Configs/WingConfig.h index 8b5b905fa2041b994707b481ce8759816c2fd6f7..72b5f04fc4d834f28ab15cac9f34deba5d3e71c0 100644 --- a/src/boards/Parafoil/Configs/WingConfig.h +++ b/src/boards/Parafoil/Configs/WingConfig.h @@ -39,76 +39,31 @@ constexpr int WING_ALTITUDE_TRIGGER_PERIOD = 1000; //[ms] #if defined(EUROC) constexpr float DEFAULT_TARGET_LAT = 39.389733; constexpr float DEFAULT_TARGET_LON = -8.288992; - -constexpr float M1_TARGET_LAT = 45.501200; -constexpr float M1_TARGET_LON = 9.156290; - -constexpr float M2_TARGET_LAT = 45.501100; -constexpr float M2_TARGET_LON = 9.156350; - -constexpr float EMC_TARGET_LAT = 45.501200; -constexpr float EMC_TARGET_LON = 9.156290; #elif defined(ROCCARASO) constexpr float DEFAULT_TARGET_LAT = 41.8039952; constexpr float DEFAULT_TARGET_LON = 14.0547223; - -constexpr float M1_TARGET_LAT = 45.501200; -constexpr float M1_TARGET_LON = 9.156290; - -constexpr float M2_TARGET_LAT = 45.501100; -constexpr float M2_TARGET_LON = 9.156350; - -constexpr float EMC_TARGET_LAT = 45.501200; -constexpr float EMC_TARGET_LON = 9.156290; #elif defined(TERNI) constexpr float DEFAULT_TARGET_LAT = 42.572165; constexpr float DEFAULT_TARGET_LON = 12.585847; - -constexpr float M1_TARGET_LAT = 45.501200; -constexpr float M1_TARGET_LON = 9.156290; - -constexpr float M2_TARGET_LAT = 45.501100; -constexpr float M2_TARGET_LON = 9.156350; - -constexpr float EMC_TARGET_LAT = 45.501200; -constexpr float EMC_TARGET_LON = 9.156290; #elif defined(MOLINELLA) constexpr float DEFAULT_TARGET_LAT = 44.588923; constexpr float DEFAULT_TARGET_LON = 11.653212; - -constexpr float M1_TARGET_LAT = 45.501200; -constexpr float M1_TARGET_LON = 9.156290; - -constexpr float M2_TARGET_LAT = 45.501100; -constexpr float M2_TARGET_LON = 9.156350; - -constexpr float EMC_TARGET_LAT = 45.501200; -constexpr float EMC_TARGET_LON = 9.156290; #else // Milan constexpr float DEFAULT_TARGET_LAT = 45.501148; constexpr float DEFAULT_TARGET_LON = 9.156301; - -constexpr float M1_TARGET_LAT = 45.501200; -constexpr float M1_TARGET_LON = 9.156290; - -constexpr float M2_TARGET_LAT = 45.501100; -constexpr float M2_TARGET_LON = 9.156350; - -constexpr float EMC_TARGET_LAT = 45.501200; -constexpr float EMC_TARGET_LON = 9.156290; #endif #if defined(GUIDED) constexpr int SELECTED_ALGORITHM = 0; #elif STOP_AND_GO -constexpr int SELECTED_ALGORITHM = 1; +constexpr int SELECTED_ALGORITHM = 1; #elif ROTATION -constexpr int SELECTED_ALGORITHM = 2; +constexpr int SELECTED_ALGORITHM = 2; #elif EARLY_MANEUVER -constexpr int SELECTED_ALGORITHM = 3; +constexpr int SELECTED_ALGORITHM = 3; #else -constexpr int SELECTED_ALGORITHM = 0; +constexpr int SELECTED_ALGORITHM = 0; #endif constexpr float MAX_SERVO_APERTURE = 1.0f; // Wing altitude checker configs diff --git a/src/tests/Parafoil/parafoil-test-WingController.cpp b/src/tests/Parafoil/parafoil-test-WingController.cpp index a333bfa91927debddd352f15091f5b4956574a96..391248d826b53ccae5e77f14a1cd63ff7d8e79c9 100644 --- a/src/tests/Parafoil/parafoil-test-WingController.cpp +++ b/src/tests/Parafoil/parafoil-test-WingController.cpp @@ -25,6 +25,7 @@ #include <Parafoil/BoardScheduler.h> #include <Parafoil/Buses.h> #include <Parafoil/Configs/SensorsConfig.h> +#include <Parafoil/Configs/WingConfig.h> #include <Parafoil/ParafoilModule/ParafoilModule.h> #include <Parafoil/PinHandler/PinHandler.h> #include <Parafoil/Sensors/Sensors.h> @@ -117,6 +118,10 @@ int main() if (initResult) { int i = 0; + + modules.get<WingController>()->setTargetPosition(Eigen::Vector2f( + WingConfig::DEFAULT_TARGET_LAT, WingConfig::DEFAULT_TARGET_LON)); + while (true) { if (i % 2 == 0)