added kinematic debug code, doc bug fix

sushil-bharati · Dec 15, 2017 · 69ebee9 · 69ebee9
1 parent c6edcc2
commit 69ebee9
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diff --git a/Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.cpp b/Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.cpp
@@ -241,6 +241,27 @@ void MultiRotorConnector::updateRendering(float dt)
         //UAirBlueprintLib::LogMessage(TEXT("Collision (raw) Count:"), FString::FromInt(collision_response_info.collision_count_raw), LogDebugLevel::Unimportant);
         UAirBlueprintLib::LogMessage(TEXT("Collision Count:"), FString::FromInt(collision_response_info.collision_count_non_resting), LogDebugLevel::Failure);
     }
+
+    /************************************************           for debugging        *****************************************************/
+    //Kinematics::State kinematics_estimated = controller_->getKinematicsEstimated();
+    //Kinematics::State kinematics_true = vehicle_.getKinematics();
+    //UAirBlueprintLib::LogMessageString("Position (true): ", VectorMath::toString(kinematics_true.pose.position), LogDebugLevel::Informational);
+    //UAirBlueprintLib::LogMessageString("Position (est): ", VectorMath::toString(kinematics_estimated.pose.position), LogDebugLevel::Informational);
+
+    //UAirBlueprintLib::LogMessageString("Lin Velocity (true): ", VectorMath::toString(kinematics_true.twist.linear), LogDebugLevel::Informational);
+    //UAirBlueprintLib::LogMessageString("Lin Velocity (est): ", VectorMath::toString(kinematics_estimated.twist.linear), LogDebugLevel::Informational);
+
+    //UAirBlueprintLib::LogMessageString("Ang Velocity (true): ", VectorMath::toString(kinematics_true.twist.angular), LogDebugLevel::Informational);
+    //UAirBlueprintLib::LogMessageString("Ang Velocity (est): ", VectorMath::toString(kinematics_estimated.twist.angular), LogDebugLevel::Informational);
+
+    //UAirBlueprintLib::LogMessageString("Lin Accel (true): ", VectorMath::toString(kinematics_true.accelerations.linear), LogDebugLevel::Informational);
+    //UAirBlueprintLib::LogMessageString("Lin Accel (est): ", VectorMath::toString(kinematics_estimated.accelerations.linear), LogDebugLevel::Informational);
+
+    //UAirBlueprintLib::LogMessageString("Ang Accel (true): ", VectorMath::toString(kinematics_true.accelerations.angular), LogDebugLevel::Informational);
+    //UAirBlueprintLib::LogMessageString("Ang Accel (est): ", VectorMath::toString(kinematics_estimated.accelerations.angular), LogDebugLevel::Informational);
+
+    //UAirBlueprintLib::LogMessageString("Orien (true): ", VectorMath::toString(kinematics_true.pose.orientation), LogDebugLevel::Informational);
+    //UAirBlueprintLib::LogMessageString("Orien (est): ", VectorMath::toString(kinematics_estimated.pose.orientation), LogDebugLevel::Informational);
 }
 
 void MultiRotorConnector::setPose(const Pose& pose, bool ignore_collision)

diff --git a/docs/px4_setup.md b/docs/px4_setup.md
@@ -31,7 +31,7 @@ For this you will need one of the supported device listed above. For manual flig
 ```
 {
   "SettingsVersion": 1.0,
-  "DefaultVehicleConfig": "Pixhawk"
+  "DefaultVehicleConfig": "PX4"
 }
 ```
-Original file line number
+Diff line change
@@ Expand Up @@
     ```
     {
       "SettingsVersion": 1.0,
-      "DefaultVehicleConfig": "Pixhawk"
+      "DefaultVehicleConfig": "PX4"
     }
     ```
@@ Expand Down @@