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change to attitude

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Sem van der Hoeven
2023-05-02 15:40:54 +02:00
parent 5b04a69e78
commit 38079342ff
1 changed files with 10 additions and 10 deletions
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20
src/px4_connection/src/px4_controller.cpp
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@@ -19,7 +19,7 @@ https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-
#include <px4_msgs/msg/vehicle_command.hpp>
#include <px4_msgs/msg/vehicle_control_mode.hpp>
#include <drone_services/srv/set_velocity.hpp>
#include <drone_services/srv/set_attitude.hpp>
// #include <px4_msgs/msg/offboard_control_mode.hpp>
@@ -39,7 +39,7 @@ public:
trajectory_setpoint_publisher = this->create_publisher<px4_msgs::msg::TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10);
// offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
set_attitude_service_ = this->create_service<drone_services::srv::SetVelocity>("set_attitude", std::bind(&PX4Controller::set_setpoint, this, std::placeholders::_1,std::placeholders::_2,std::placeholders::_3));
set_attitude_service_ = this->create_service<drone_services::srv::SetAttitude>("set_attitude", std::bind(&PX4Controller::set_setpoint, this, std::placeholders::_1,std::placeholders::_2,std::placeholders::_3));
// create timer to send vehicle attitude setpoints every second
timer_ = this->create_wall_timer(100ms, std::bind(&PX4Controller::send_setpoint, this));
@@ -52,7 +52,7 @@ private:
rclcpp::Publisher<px4_msgs::msg::VehicleAttitudeSetpoint>::SharedPtr vehicle_setpoint_publisher_;
rclcpp::Publisher<px4_msgs::msg::TrajectorySetpoint>::SharedPtr trajectory_setpoint_publisher;
rclcpp::Publisher<px4_msgs::msg::VehicleCommand>::SharedPtr vehicle_command_publisher_;
rclcpp::Service<drone_services::srv::SetVelocity>::SharedPtr set_attitude_service_;
rclcpp::Service<drone_services::srv::SetAttitude>::SharedPtr set_attitude_service_;
// rclcpp::Publisher<px4_msgs::msg::OffboardControlMode>::SharedPtr offboard_control_mode_publisher_;
@@ -72,16 +72,16 @@ private:
void set_setpoint(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<drone_services::srv::SetVelocity::Request> request,
const std::shared_ptr<drone_services::srv::SetVelocity::Response> response)
const std::shared_ptr<drone_services::srv::SetAttitude::Request> request,
const std::shared_ptr<drone_services::srv::SetAttitude::Response> response)
{
last_setpoint[0] = request->x_speed;
last_setpoint[1] = request->y_speed;
last_setpoint[2] = request->z_speed;
last_setpoint[0] = degrees_to_radians(request->yaw);
last_setpoint[1] = degrees_to_radians(request->pitch);
last_setpoint[2] = degrees_to_radians(request->roll);
last_angle = request->angle;
last_thrust = request->thrust;
RCLCPP_INFO(this->get_logger(), "New setpoint: x:%f y:%f z:%f angle:%f",last_setpoint[0],last_setpoint[1],last_setpoint[2], last_angle);
RCLCPP_INFO(this->get_logger(), "New setpoint: yaw:%f pitch:%f roll:%f thrust:%f", last_setpoint[0], last_setpoint[1], last_setpoint[2], last_thrust);
response->status = 0;
}