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change to use _body msg params

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Sem van der Hoeven
2023-05-02 16:39:13 +02:00
parent 0a18a68f5c
commit 09b6c6110e
1 changed files with 16 additions and 16 deletions
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32
src/px4_connection/src/px4_controller.cpp
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@@ -21,7 +21,6 @@ https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-
#include <drone_services/srv/set_attitude.hpp>
// #include <px4_msgs/msg/offboard_control_mode.hpp>
#define D_SPEED(x) -x - 9.81
@@ -39,7 +38,7 @@ public:
trajectory_setpoint_publisher = this->create_publisher<px4_msgs::msg::TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10);
// offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
set_attitude_service_ = this->create_service<drone_services::srv::SetAttitude>("set_attitude", std::bind(&PX4Controller::set_setpoint, this, std::placeholders::_1,std::placeholders::_2,std::placeholders::_3));
set_attitude_service_ = this->create_service<drone_services::srv::SetAttitude>("set_attitude", std::bind(&PX4Controller::set_setpoint, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
// create timer to send vehicle attitude setpoints every second
timer_ = this->create_wall_timer(100ms, std::bind(&PX4Controller::send_setpoint, this));
@@ -66,9 +65,11 @@ private:
bool ready_to_fly = false;
float cur_yaw = 0;
float last_setpoint[3] = {0,0,0};
float last_setpoint[3] = {0, 0, 0};
float last_angle = 0;
float last_thrust = 0;
// result quaternion
std::array<float, 4> q = {0, 0, 0, 0};
void set_setpoint(
const std::shared_ptr<rmw_request_id_t> request_header,
@@ -122,21 +123,21 @@ private:
// set message to enable attitude
auto msg = px4_msgs::msg::VehicleAttitudeSetpoint();
// result quaternion
std::array<float, 4> q = {0, 0, 0, 0};
if (this->get_clock()->now().seconds() - start_time_ < 30)
{
// move up?
msg.thrust_body[0] = 0; // north
msg.thrust_body[1] = 0; // east
msg.thrust_body[2] = -last_thrust;
// if (this->get_clock()->now().seconds() - start_time_ < 30)
// {
msg.yaw_body = last_setpoint[0];
msg.pitch_body = last_setpoint[1];
msg.roll_body = last_setpoint[2];
// move up?
msg.thrust_body[0] = 0; // north
msg.thrust_body[1] = 0; // east
msg.thrust_body[2] = -last_thrust;
RCLCPP_INFO(this->get_logger(), "yaw:%f pitch:%f roll:%f thrust:%f",last_setpoint[0],last_setpoint[1],last_setpoint[2], last_thrust);
RCLCPP_INFO(this->get_logger(), "yaw:%f pitch:%f roll:%f thrust:%f", last_setpoint[0], last_setpoint[1], last_setpoint[2], last_thrust);
calculate_quaternion(q, last_setpoint[0], last_setpoint[1], last_setpoint[2]);
}
calculate_quaternion(q, last_setpoint[0], last_setpoint[1], last_setpoint[2]);
// }
// else
// {
// if (flying)
@@ -147,7 +148,6 @@ private:
// }
// }
// set quaternion
msg.q_d[0] = q.at(0);
msg.q_d[1] = q.at(1);