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add converting control mode

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Sem van der Hoeven
2023-05-25 12:50:32 +02:00
parent d59da4f5ac
commit 47ff135422
1 changed files with 4 additions and 0 deletions
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4
src/drone_controls/src/PositionChanger.cpp
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@@ -24,6 +24,9 @@
#define DEFAULT_CONTROL_MODE 16 // default velocity control bitmask #define DEFAULT_CONTROL_MODE 16 // default velocity control bitmask
// converts bitmask control mode to control mode used by PX4Controller
#define PX4_CONTROLLER_CONTROL_MODE(x) ((x) == 4 ? 1 : ((x) == 16 ? 2 : ((x) == 32 ? 3 : -1)))
using namespace std::chrono_literals; using namespace std::chrono_literals;
struct Quaternion struct Quaternion
@@ -92,6 +95,7 @@ public:
this->trajectory_request->values[1] = this->current_speed_y; this->trajectory_request->values[1] = this->current_speed_y;
this->trajectory_request->values[2] = this->current_speed_z; this->trajectory_request->values[2] = this->current_speed_z;
this->trajectory_request->yaw = this->current_yaw; this->trajectory_request->yaw = this->current_yaw;
this->trajectory_request->control_mode = PX4_CONTROLLER_CONTROL_MODE(DEFAULT_CONTROL_MODE);
auto trajectory_response = this->trajectory_client->async_send_request(this->trajectory_request, std::bind(&PositionChanger::trajectory_message_callback, this, std::placeholders::_1)); auto trajectory_response = this->trajectory_client->async_send_request(this->trajectory_request, std::bind(&PositionChanger::trajectory_message_callback, this, std::placeholders::_1));
// if (rclcpp::spin_until_future_complete(this, trajectory_response) == // if (rclcpp::spin_until_future_complete(this, trajectory_response) ==