sem/5g_drone_ROS2
1
0
Fork 0
Code Issues 1 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

try adding hover?

Browse Source
This commit is contained in:
Sem van der Hoeven
2023-04-28 21:01:12 +02:00
parent c0d327165c
commit 19d1987484
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/px4_connection/src/px4_controller.cpp
View File

@@ -85,12 +85,12 @@ private:
// result quaternion // result quaternion
std::array<float, 4> q = {0, 0, 0, 0}; std::array<float, 4> 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? // 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] = -thrust; // down, 100% thrust up msg.thrust_body[2] = -0.8; // down, 100% thrust up
calculate_quaternion(q, 0, 0, 0); calculate_quaternion(q, 0, 0, 0);
} }