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try with increasing thrust

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Sem van der Hoeven
2023-04-28 18:36:23 +02:00
parent f767ee2583
commit 4b063ce9b2
1 changed files with 9 additions and 5 deletions
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14
src/px4_connection/src/px4_controller.cpp
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@@ -50,6 +50,7 @@ private:
bool has_sent_status = false;
bool flying = false;
int setpoint_count = 0;
float thrust = 0;
/**
* @brief Only the attitude is enabled, because that is how the drone will be controlled.
@@ -57,9 +58,12 @@ private:
*/
void send_setpoint()
{
if (setpoint_count < 21)
setpoint_count++;
setpoint_count++;
if (setpoint_count % 20 == 0 && thrust <= 1) {
thrust += 0.1;
}
if (setpoint_count == 20)
{
@@ -79,12 +83,12 @@ private:
// result quaternion
std::array<float, 4> q = {0, 0, 0, 0};
if (this->get_clock()->now().seconds() - start_time_ < 20)
if (this->get_clock()->now().seconds() - start_time_ < 30)
{
// move up?
msg.thrust_body[0] = 0; // north
msg.thrust_body[1] = 0; // east
msg.thrust_body[2] = 1; // down, 100% thrust up
msg.thrust_body[2] = thrust; // down, 100% thrust up
calculate_quaternion(q, 0, degrees_to_radians(20), 0);
}