From 1515206e2ecd476d46d2d58c2607f798f15eced6 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Fri, 28 Apr 2023 20:46:41 +0200 Subject: [PATCH] set throttle to negative --- 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 e0453b33..5fde4572 100644 --- a/src/px4_connection/src/px4_controller.cpp +++ b/src/px4_connection/src/px4_controller.cpp @@ -89,7 +89,7 @@ private: // move up? msg.thrust_body[0] = 0; // north msg.thrust_body[1] = 0; // east - msg.thrust_body[2] = 1; // down, 100% thrust up + msg.thrust_body[2] = -1; // down, 100% thrust up calculate_quaternion(q, 0, degrees_to_radians(20), 0); } @@ -126,7 +126,7 @@ private: msg.yaw_sp_move_rate = 0; msg.reset_integral = false; msg.fw_control_yaw_wheel = false; - + msg.timestamp = this->get_clock()->now().nanoseconds() / 1000; // send heartbeat together with attitude setpoint send_heartbeat();