Updated to fix yaw issue

smclemo · Oct 22, 2012 · 0d7ac30 · 0d7ac30
1 parent 46e924f
commit 0d7ac30
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Showing 3 changed files with 2 additions and 2 deletions.
diff --git a/Final/jni/fly b/Final/jni/fly
diff --git a/Final/jni/native.cpp b/Final/jni/native.cpp
@@ -148,7 +148,7 @@ void* native_thread_main(void* data)
 			received_location.x = command.packet.transform[0];
 			received_location.y = command.packet.transform[1];
 			received_location.z = command.packet.transform[2];
-			received_location.yaw = command.packet.transform[3];
+			received_location.yaw = command.packet.transform[4];
 
 			if(filter_pose(&received_location))
 			{

diff --git a/Final/main.cpp b/Final/main.cpp
@@ -116,7 +116,7 @@ int main()
 	yaw.f = 0.0f;
 
 	pose goal_location, waypoint_1, waypoint_2, waypoint_3, waypoint_4, current_location, correction;
-	waypoint_1.x = 0.0;	//right of kinect positive x
+	waypoint_1.x = 0.0;		//right of kinect positive x
 	waypoint_1.y = -0.3;	//below kinect positive y
 	waypoint_1.z = 0.0;		//in front of kinect positive z
 	waypoint_1.yaw = 0.0; 	//turning left of kinect positive yaw