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test with 0 values

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Sem van der Hoeven
2023-04-28 14:47:36 +02:00
parent e3466a1077
commit 388963511a
1 changed files with 8 additions and 9 deletions
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17
src/px4_connection/src/px4_controller.cpp
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@@ -55,17 +55,16 @@ private:
void send_setpoint()
{
// set message to enable attitude
auto msg = px4_msgs::msg::TrajectorySetpoint();
auto msg = px4_msgs::msg::VehicleAttitudeSetpoint();
// get timestamp and publish message
msg.thrust_body[0] = 0; // north
msg.thrust_body[1] = 0; // east
msg.thrust_body[2] = -0.1; // down, 10% thrust up
// https://github.com/PX4/px4_msgs/blob/main/msg/TrajectorySetpoint.msg
msg.velocity[0] = 0; // north
msg.velocity[1] = 0; // east
msg.velocity[2] = 1.0; // down (1 m/s -> TODO test if this accounts for 9.81 m/s earth gravity)
msg.yaw = (0.0 * M_PI) / 180.0; // 0 degrees rotation of yaw
msg.yawspeed = 0; // 0 rotation speed
msg.q_d[0] = 0;
msg.q_d[1] = 0;
msg.q_d[2] = 0;
msg.q_d[3] = 0;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
trajectory_setpoint_publisher->publish(msg);