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add log of des_x,y,z

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Sem van der Hoeven
2023-05-15 18:48:09 +02:00
parent af85c1fc20
commit 4a5a8eb25e
1 changed files with 1 additions and 0 deletions
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src/px4_connection/src/px4_controller.cpp
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@@ -307,6 +307,7 @@ 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);
msg.position = {des_x, des_y, des_z}; msg.position = {des_x, des_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]