From 088af872f9c6b309934504ee11a43f5569d61fbd Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Mon, 1 May 2023 11:02:50 +0200
Subject: [PATCH] try negative down speed

---
 src/px4_connection/src/px4_controller.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp
index db10e22f..839853e4 100644
--- a/src/px4_connection/src/px4_controller.cpp
+++ b/src/px4_connection/src/px4_controller.cpp
@@ -19,7 +19,7 @@ https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-
 #include <px4_msgs/msg/vehicle_control_mode.hpp>
 // #include <px4_msgs/msg/offboard_control_mode.hpp>
 
-#define D_SPEED(x) x + 9.81
+#define D_SPEED(x) -x - 9.81
 
 using namespace std::chrono_literals;
 
@@ -62,7 +62,7 @@ private:
 
         msg.velocity[0] = 5;
         msg.velocity[1] = 5;
-        msg.velocity[2] = D_SPEED(10);
+        msg.velocity[2] = D_SPEED(1);
 
         msg.yaw = -3.14;
         msg.yawspeed = 0;