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set throttle to negative

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Sem van der Hoeven
2023-04-28 20:46:41 +02:00
parent 52f237fcb5
commit 1515206e2e
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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@@ -89,7 +89,7 @@ private:
// move up? // move up?
msg.thrust_body[0] = 0; // north msg.thrust_body[0] = 0; // north
msg.thrust_body[1] = 0; // east 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); calculate_quaternion(q, 0, degrees_to_radians(20), 0);
} }
@@ -126,7 +126,7 @@ private:
msg.yaw_sp_move_rate = 0; msg.yaw_sp_move_rate = 0;
msg.reset_integral = false; msg.reset_integral = false;
msg.fw_control_yaw_wheel = false; msg.fw_control_yaw_wheel = false;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000; msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
// send heartbeat together with attitude setpoint // send heartbeat together with attitude setpoint
send_heartbeat(); send_heartbeat();