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add proper checking of control modes

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Sem van der Hoeven
2023-05-15 10:45:20 +02:00
parent 3ee881772c
commit 3d74ee2c41
2 changed files with 32 additions and 29 deletions
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2
src/px4_connection/src/px4_controller.cpp
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@@ -151,7 +151,7 @@ private:
{
if (request->control_mode != CONTROL_MODE_VELOCITY || request->control_mode != CONTROL_MODE_POSITION)
{
RCLCPP_INFO(this->get_logger(), "Got invalid control mode: %d", request->control_mode);
RCLCPP_INFO(this->get_logger(), "Got invalid trajectory control mode: %d", request->control_mode);
response->success = false;
}
else