sem/5g_drone_ROS2
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Sem van der Hoeven
2023-05-16 15:53:42 +02:00
parent 6467007795
commit 4062d145f9
1 changed files with 1 additions and 1 deletions
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src/px4_connection/src/px4_controller.cpp
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@@ -311,7 +311,7 @@ private:
auto msg = px4_msgs::msg::TrajectorySetpoint(); auto msg = px4_msgs::msg::TrajectorySetpoint();
RCLCPP_INFO(this->get_logger(), "Sending position setpoint: %f %f %f", des_x, des_y, des_z); RCLCPP_INFO(this->get_logger(), "Sending position setpoint: %f %f %f", des_x, des_y, des_z);
RCLCPP_INFO(this->get_logger("local position: %f %f", local_x, local_y)); RCLCPP_INFO(this->get_logger(),"local position: %f %f", local_x, local_y);
msg.position = {local_x, local_y, des_z}; msg.position = {local_x, local_y, des_z};
msg.velocity = {dot_des_x, dot_des_y, 0.0}; msg.velocity = {dot_des_x, dot_des_y, 0.0};
msg.yaw = gamma; //-3.14; // [-PI:PI] msg.yaw = gamma; //-3.14; // [-PI:PI]