sim: set cmdHl state after cmdFullState

IMRCLab · Aug 30, 2023 · d80884a · d80884a
1 parent 3b91a7d
commit d80884a
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/crazyflie_sim/crazyflie_sim/crazyflie_sil.py b/crazyflie_sim/crazyflie_sim/crazyflie_sil.py
@@ -185,6 +185,10 @@ def cmdFullState(self, pos, vel, acc, yaw, omega):
  self.setpoint.acceleration.x = acc[0]
  self.setpoint.acceleration.y = acc[1]
  self.setpoint.acceleration.z = acc[2]
+
+ self.cmdHl_pos = copy_svec(self.setpoint.pos)
+ self.cmdHl_vel = copy_svec(self.setpoint.vel)
+ self.cmdHl_yaw = yaw
 
  # def cmdPosition(self, pos, yaw = 0):
  # self.mode = CrazyflieSIL.MODE_LOW_POSITION