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edit commands for test controller and remove spamming logs

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Sem van der Hoeven
2023-05-15 10:37:47 +02:00
parent d1c8ca537f
commit 3ee881772c
2 changed files with 5 additions and 5 deletions
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8
src/px4_connection/src/px4_controller.cpp
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@@ -321,24 +321,24 @@ private:
// RCLCPP_INFO(this->get_logger(), "current values: %f %f %f %f", last_setpoint[0], last_setpoint[1], last_setpoint[2], last_thrust);
if (!user_in_control)
{
RCLCPP_INFO(this->get_logger(), "Sending idle attitude setpoint");
// RCLCPP_INFO(this->get_logger(), "Sending idle attitude setpoint");
send_attitude_setpoint();
}
else
{
if (current_control_mode == CONTROL_MODE_ATTITUDE)
{
RCLCPP_INFO(this->get_logger(), "Sending attitude setpoint");
// RCLCPP_INFO(this->get_logger(), "Sending attitude setpoint");
send_attitude_setpoint();
}
else if (current_control_mode == CONTROL_MODE_VELOCITY)
{
RCLCPP_INFO(this->get_logger(), "Sending velocity setpoint");
// RCLCPP_INFO(this->get_logger(), "Sending velocity setpoint");
send_velocity_setpoint();
}
else if (current_control_mode == CONTROL_MODE_POSITION)
{
RCLCPP_INFO(this->get_logger(), "Sending position setpoint");
// RCLCPP_INFO(this->get_logger(), "Sending position setpoint");
send_position_setpoint();
}
}

2
src/test_controls/test_controls/test_controller.py
View File

@@ -40,7 +40,7 @@ class TestController(Node):
self.traj_req = SetTrajectory.Request()
self.arm_req = ArmDrone.Request()
self.get_logger().info("\nControls:\n1 - Attitude control\n2 - Velocity control\n3 - Position control\n/ - Arm drone\nW - forward\nS - backward\nA - left\nD - right\nQ - rotate left\nE - rotate right\nSpace - up\nZ - down\nV - Down nudge\nF - Up nudge\nN - emergency stop\nEsc - exit")
self.get_logger().info("\nControls:\n1 - Attitude control\n2 - Velocity control\n3 - Position control\n/ - Arm drone\nW - forward\nS - backward\nA - left\nD - right\nQ - rotate left\nE - rotate right\nSpace - up\nZ - down\nV - Down nudge\nF - Up nudge\nN - emergency stop\nCTRL-C - exit")
def spin(self):
while rclpy.ok():