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change checking of ready to fly

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Sem van der Hoeven
2023-05-01 10:51:03 +02:00
parent 23a59a449c
commit 4449c6cc1f
1 changed files with 2 additions and 1 deletions
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3
src/px4_connection/src/px4_controller.cpp
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@@ -52,7 +52,7 @@ private:
bool has_swithed = false; bool has_swithed = false;
int setpoint_count = 0; int setpoint_count = 0;
float thrust = 0.5; float thrust = 0.5;
bool ready_to_fly = setpoint_count == 20; bool ready_to_fly = false;
void send_trajectory_setpoint() void send_trajectory_setpoint()
{ {
@@ -138,6 +138,7 @@ private:
// increase amount of setpoints sent // increase amount of setpoints sent
setpoint_count++; setpoint_count++;
ready_to_fly = setpoint_count == 20;
// after 20 setpoints, send arm command to make drone actually fly // after 20 setpoints, send arm command to make drone actually fly
if (ready_to_fly) if (ready_to_fly)
{ {