sem/5g_drone_ROS2
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log incoming request

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Sem van der Hoeven
2023-05-15 15:11:18 +02:00
parent 71ba5cb171
commit 1dc9234400
1 changed files with 4 additions and 2 deletions
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6
src/px4_connection/src/px4_controller.cpp
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@@ -168,6 +168,7 @@ private:
if (request->control_mode == CONTROL_MODE_VELOCITY) if (request->control_mode == CONTROL_MODE_VELOCITY)
{ {
RCLCPP_INFO(this->get_logger(), "Got new velocity setpoint. %f %f %f", request->x, request->y, request->z);
if (trajectory_valid_x) if (trajectory_valid_x)
velocity[0] += request->x; velocity[0] += request->x;
if (trajectory_valid_y) if (trajectory_valid_y)
@@ -175,17 +176,18 @@ private:
if (trajectory_valid_z) if (trajectory_valid_z)
velocity[2] += request->z; velocity[2] += request->z;
RCLCPP_INFO(this->get_logger(), "Got new velocity setpoint. %f %f %f", velocity[0], velocity[1], velocity[2]); RCLCPP_INFO(this->get_logger(), "Set new velocity setpoint. %f %f %f", velocity[0], velocity[1], velocity[2]);
} }
else if (request->control_mode == CONTROL_MODE_POSITION) else if (request->control_mode == CONTROL_MODE_POSITION)
{ {
RCLCPP_INFO(this->get_logger(), "Got new position setpoint. %f %f %f", request->x, request->y, request->z);
if (trajectory_valid_x) if (trajectory_valid_x)
position[0] = request->x; position[0] = request->x;
if (trajectory_valid_y) if (trajectory_valid_y)
position[1] = request->y; position[1] = request->y;
if (trajectory_valid_z) if (trajectory_valid_z)
position[2] = request->z; position[2] = request->z;
RCLCPP_INFO(this->get_logger(), "Got new position setpoint: %f %f %f", position[0], position[1], position[2]); RCLCPP_INFO(this->get_logger(), "Set new position setpoint: %f %f %f", position[0], position[1], position[2]);
} }
if (trajectory_valid_yaw) if (trajectory_valid_yaw)