sem/5g_drone_ROS2
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add circling

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Sem van der Hoeven
2023-05-01 14:07:09 +02:00
parent c7dd7a25a0
commit 3e740de48e
1 changed files with 6 additions and 3 deletions
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9
src/px4_connection/src/px4_controller.cpp
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@@ -55,6 +55,7 @@ private:
int setpoint_count = 0; int setpoint_count = 0;
float thrust = 0.5; float thrust = 0.5;
bool ready_to_fly = false; bool ready_to_fly = false;
float cur_yaw = 0;
void send_trajectory_setpoint() void send_trajectory_setpoint()
{ {
@@ -73,11 +74,13 @@ private:
RCLCPP_INFO(this->get_logger(), "switching to 0 vel"); RCLCPP_INFO(this->get_logger(), "switching to 0 vel");
has_swithed = true; has_swithed = true;
} }
msg.velocity[0] = 1;
cur_yaw += 1 % 360;
msg.velocity[0] = 0;
msg.velocity[1] = 0; msg.velocity[1] = 0;
msg.velocity[2] = D_SPEED(0); msg.velocity[2] = D_SPEED(0);
msg.yawspeed = 1; msg.yawspeed = 0.5;
msg.yaw = 3.14; msg.yaw = degrees_to_radians(cur_yaw);
} }
// if (setpoint_count < 30) // if (setpoint_count < 30)