From fcda5e0c86db008dfbb1c3d7cba46422aca7ffee Mon Sep 17 00:00:00 2001
From: odri <odri@furano.laas.fr>
Date: Fri, 20 Aug 2021 17:27:47 +0200
Subject: [PATCH] Add type_MPC to input of LoggerControl in main loop
---
scripts/main_solo12_control.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/scripts/main_solo12_control.py b/scripts/main_solo12_control.py
index b8403418..2e6a822a 100644
--- a/scripts/main_solo12_control.py
+++ b/scripts/main_solo12_control.py
@@ -140,7 +140,7 @@ def control_loop(name_interface_clone=None, des_vel_analysis=None):
if params.LOGGING or params.PLOTTING:
loggerSensors = LoggerSensors(device, qualisys=qc, logSize=params.N_SIMULATION-3)
- loggerControl = LoggerControl(params.dt_wbc, params.N_gait, joystick=controller.joystick,
+ loggerControl = LoggerControl(params.dt_wbc, params.N_gait, params.type_MPC, joystick=controller.joystick,
estimator=controller.estimator, loop=controller,
gait=controller.gait, statePlanner=controller.statePlanner,
footstepPlanner=controller.footstepPlanner,
--
GitLab