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try negative down speed

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Sem van der Hoeven
2023-05-01 11:02:50 +02:00
parent 60033323d4
commit 088af872f9
1 changed files with 2 additions and 2 deletions
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4
src/px4_connection/src/px4_controller.cpp
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@@ -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/vehicle_control_mode.hpp>
// #include <px4_msgs/msg/offboard_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; using namespace std::chrono_literals;
@@ -62,7 +62,7 @@ private:
msg.velocity[0] = 5; msg.velocity[0] = 5;
msg.velocity[1] = 5; msg.velocity[1] = 5;
msg.velocity[2] = D_SPEED(10); msg.velocity[2] = D_SPEED(1);
msg.yaw = -3.14; msg.yaw = -3.14;
msg.yawspeed = 0; msg.yawspeed = 0;