From e6d20c2c37c662481fcda9ecdeb50026227f9683 Mon Sep 17 00:00:00 2001
From: fetty <oriol.martinez.fite@estudiantat.upc.edu>
Date: Tue, 16 Jan 2024 17:25:25 +0100
Subject: [PATCH] now publishing vx in debug msg

---
 params/dyn_autox_testing.yaml | 57 -----------------------------------
 src/mpc.cpp                   |  1 +
 2 files changed, 1 insertion(+), 57 deletions(-)
 delete mode 100644 params/dyn_autox_testing.yaml

diff --git a/params/dyn_autox_testing.yaml b/params/dyn_autox_testing.yaml
deleted file mode 100644
index 18b9c5a..0000000
--- a/params/dyn_autox_testing.yaml
+++ /dev/null
@@ -1,57 +0,0 @@
-!!python/object/new:dynamic_reconfigure.encoding.Config
-dictitems:
-  Bf: 10.8529
-  Br: 10.1507
-  Cd: 0.8727
-  Cf: -1.1705
-  Cr: -1.1705
-  Df: 2785.4
-  Dr: 3152.3
-  Vy_max: 5.0
-  YawRate_max: 80.0
-  dMtv: 1.0
-  dRd: 0.2
-  diff_delta: 1000.0
-  groups: !!python/object/new:dynamic_reconfigure.encoding.Config
-    dictitems:
-      Bf: 10.8529
-      Br: 10.1507
-      Cd: 0.8727
-      Cf: -1.1705
-      Cr: -1.1705
-      Df: 2785.4
-      Dr: 3152.3
-      Vy_max: 5.0
-      YawRate_max: 80.0
-      dMtv: 1.0
-      dRd: 0.2
-      diff_delta: 1000.0
-      groups: !!python/object/new:dynamic_reconfigure.encoding.Config
-        state: []
-      id: 0
-      latency: 5
-      name: Default
-      parameters: !!python/object/new:dynamic_reconfigure.encoding.Config
-        state: []
-      parent: 0
-      q_mu: 0.0
-      q_n: 5.0
-      q_nN: 3.0
-      q_s: 50.0
-      q_sN: 50.0
-      q_slack_track: 100.0
-      q_slip: 2.0
-      state: true
-      type: ''
-      u_r: 0.45
-    state: []
-  latency: 5
-  q_mu: 0.0
-  q_n: 5.0
-  q_nN: 3.0
-  q_s: 50.0
-  q_sN: 50.0
-  q_slack_track: 100.0
-  q_slip: 2.0
-  u_r: 0.45
-state: []
diff --git a/src/mpc.cpp b/src/mpc.cpp
index 840fac3..acc3856 100644
--- a/src/mpc.cpp
+++ b/src/mpc.cpp
@@ -578,6 +578,7 @@ void MPC::get_debug_solution(as_msgs::MPCdebug *msg){
         msg->k = this->forces.params.all_parameters[24 + this->latency * this->Npar];
 
         double vx = this->forces.params.all_parameters[23 + this->latency * this->Npar];
+        msg->vx = vx;
 
         msg->alpha_f = atan( (msg->vy + this->Lf * msg->r)/vx ) - msg->delta;
         msg->alpha_r = atan( (msg->vy - this->Lr * msg->r)/vx );