fix #106

toppers · Dec 28, 2023 · b02a83d · b02a83d
1 parent 1745a9a
commit b02a83d
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Showing 49 changed files with 94,356 additions and 96,534 deletions.
diff --git a/hako-start.bash b/hako-start.bash
@@ -49,7 +49,7 @@ fi
 CURR_DIR=`pwd`
 echo "INFO: Activating hakoniwa"
 cd hakoniwa/cmake-build
-./src/hako-px4sim 127.0.0.1 4560 asim &
+./src/hako-px4sim 127.0.0.1 4560 sim &
 pids+=($!)
 cd ${CURR_DIR}
 

diff --git a/hakoniwa/config/drone_config.json b/hakoniwa/config/drone_config.json
@@ -68,11 +68,11 @@
  },
  "mag": {
  "sampleCount": 1,
- "noise": 0.005
+ "noise": 0.05
  },
  "baro": {
  "sampleCount": 1,
- "noise": 0
+ "noise": 0.005
  },
  "gps": {
  "sampleCount": 1,

diff --git a/hakoniwa/dump.bash b/hakoniwa/dump.bash
diff --git a/hakoniwa/run-win.bash b/hakoniwa/run-win.bash
@@ -45,7 +45,7 @@ sleep 1
 
 echo "INFO: ACTIVATING hako-px4sim"
 cd cmake-build
-./src/hako-px4sim ${CORE_IPADDR} 4560 asim
+./src/hako-px4sim ${CORE_IPADDR} 4560 sim
 
 echo "INFO: NOW STOPPING SIMULATION" 
 

diff --git a/hakoniwa/src/CMakeLists.txt b/hakoniwa/src/CMakeLists.txt
@@ -23,11 +23,6 @@ add_executable(
  hako/pdu/hako_pdu_data.cpp
  ${HAKONIWA_SOURCE_DIR}/hako_capi.cpp
  hako/runner/hako_px4_master.cpp
- hako/runner/hako_px4_runner.cpp
- hako/runner/hako_sim_runner.cpp
- hako/runner/drone/drone_phys.cpp
- hako/runner/drone/drone_phys_sensor.cpp
- hako/runner/control/drone_control.cpp
 
  threads/px4sim_thread_receiver.cpp
  threads/px4sim_thread_sender.cpp

diff --git a/hakoniwa/src/assets/drone/mavlink/mavlink_io.hpp b/hakoniwa/src/assets/drone/mavlink/mavlink_io.hpp
@@ -3,7 +3,6 @@
 
 #include "iaircraft.hpp"
 #include "hako/pdu/hako_pdu_data.hpp"
-#include "config/config.hpp"
 #include <iostream>
 
 namespace hako::assets::drone {

diff --git a/hakoniwa/src/config/config.hpp b/hakoniwa/src/config/config.hpp
diff --git a/hakoniwa/src/config/drone_config.hpp b/hakoniwa/src/config/drone_config.hpp
@@ -7,7 +7,9 @@
 #include <vector>
 
 using json = nlohmann::json;
-
+//#define DRONE_PX4_RX_DEBUG_ENABLE
+//DRONE_PX4_TX_DEBUG_ENABLE
+//DRONE_PID_CONTROL_CPP
 struct RotorPosition {
  std::vector<double> position;
  double rotationDirection;

diff --git a/hakoniwa/src/hako/runner/common/drone_types.hpp b/hakoniwa/src/hako/runner/common/drone_types.hpp