From 38079342fff4d3f0e3f33667474ea1edad60703a Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Tue, 2 May 2023 15:40:54 +0200
Subject: [PATCH] change to attitude

---
 src/px4_connection/src/px4_controller.cpp | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp
index e5d88b3b..104a4e73 100644
--- a/src/px4_connection/src/px4_controller.cpp
+++ b/src/px4_connection/src/px4_controller.cpp
@@ -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;
     }