From 263f1c154e043bba76274abc1cdd5442219a76f7 Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Thu, 20 Apr 2023 15:56:18 +0200
Subject: [PATCH] comment

---
 src/send_setpoints/src/send_setpoint.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/src/send_setpoints/src/send_setpoint.cpp b/src/send_setpoints/src/send_setpoint.cpp
index 1cf68f09..0e837fa6 100644
--- a/src/send_setpoints/src/send_setpoint.cpp
+++ b/src/send_setpoints/src/send_setpoint.cpp
@@ -1,3 +1,12 @@
+/*
+
+We need to send attitude setpoints to be able to arm the drone:
+https://mavlink.io/en/messages/common.html#SET_ATTITUDE_TARGET
+We need attitude setpoints because we don't have a GPS:
+https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-manual-control-lost/31565/9
+
+*/
+
 #include "rclcpp/rclcpp.hpp"
 
 #include <px4_msgs/msg/offboard_control_mode.hpp>