From 19d1987484f107a20126df80b2436058434cac09 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Fri, 28 Apr 2023 21:01:12 +0200 Subject: [PATCH] try adding hover? --- 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 35f99a83..c8d59d25 100644 --- a/src/px4_connection/src/px4_controller.cpp +++ b/src/px4_connection/src/px4_controller.cpp @@ -85,12 +85,12 @@ private: // result quaternion std::array q = {0, 0, 0, 0}; - if (this->get_clock()->now().seconds() - start_time_ < 15) + if (this->get_clock()->now().seconds() - start_time_ < 10) { // move up? msg.thrust_body[0] = 0; // north msg.thrust_body[1] = 0; // east - msg.thrust_body[2] = -thrust; // down, 100% thrust up + msg.thrust_body[2] = -0.8; // down, 100% thrust up calculate_quaternion(q, 0, 0, 0); }