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Sem van der Hoeven
2023-04-28 20:52:38 +02:00
parent c4e9e3bb10
commit 0c543614a9
1 changed files with 15 additions and 15 deletions
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30
src/px4_connection/src/px4_controller.cpp
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@@ -133,22 +133,22 @@ private:
vehicle_setpoint_publisher_->publish(msg); vehicle_setpoint_publisher_->publish(msg);
} }
void send_heartbeat() // void send_heartbeat()
{ // {
// set message to enable attitude // // set message to enable attitude
auto msg = px4_msgs::msg::OffboardControlMode(); // auto msg = px4_msgs::msg::OffboardControlMode();
msg.position = false; // msg.position = false;
msg.velocity = false; // msg.velocity = false;
msg.acceleration = false; // msg.acceleration = false;
msg.attitude = true; // msg.attitude = true;
msg.body_rate = false; // msg.body_rate = false;
msg.actuator = false; // msg.actuator = false;
// get timestamp and publish message // // get timestamp and publish message
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000; // msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
offboard_control_mode_publisher_->publish(msg); // offboard_control_mode_publisher_->publish(msg);
// RCLCPP_INFO(this->get_logger(), "sent offboard control mode message!"); // // RCLCPP_INFO(this->get_logger(), "sent offboard control mode message!");
} // }
/** /**
* @brief Publish vehicle commands * @brief Publish vehicle commands