sem/5g_drone_ROS2
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try to hover

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Sem van der Hoeven
2023-05-01 11:07:27 +02:00
parent 088af872f9
commit 33d173d1e0
1 changed files with 15 additions and 5 deletions
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20
src/px4_connection/src/px4_controller.cpp
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@@ -60,12 +60,22 @@ private:
{ {
auto msg = px4_msgs::msg::TrajectorySetpoint(); auto msg = px4_msgs::msg::TrajectorySetpoint();
msg.velocity[0] = 5; if (setpoint_count < 30)
msg.velocity[1] = 5; {
msg.velocity[2] = D_SPEED(1); msg.velocity[0] = 0;
msg.velocity[1] = 0;
msg.velocity[2] = D_SPEED(1);
msg.yawspeed = 0;
msg.yaw = -3.14; } else {
msg.yawspeed = 0; //try to hover
msg.velocity[0] = 0;
msg.velocity[1] = 0;
msg.velocity[2] = 0;
msg.yawspeed = 1;
}
msg.yaw = -3.14;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000; msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
trajectory_setpoint_publisher->publish(msg); trajectory_setpoint_publisher->publish(msg);