sem/5g_drone_ROS2
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add extra parameters

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Sem van der Hoeven
2023-04-28 20:45:08 +02:00
parent a037b7f00e
commit 52f237fcb5
1 changed files with 5 additions and 1 deletions
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6
src/px4_connection/src/px4_controller.cpp
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@@ -100,7 +100,7 @@ private:
{ {
publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0, 0); publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0, 0);
flying = false; flying = false;
RCLCPP_INFO(this->get_logger(), "Disarm command sent after 20 seconds"); RCLCPP_INFO(this->get_logger(), "Disarm command sent after 30 seconds");
} }
} }
// else // else
@@ -123,6 +123,10 @@ private:
msg.q_d[2] = q.at(2); msg.q_d[2] = q.at(2);
msg.q_d[3] = q.at(3); msg.q_d[3] = q.at(3);
msg.yaw_sp_move_rate = 0;
msg.reset_integral = false;
msg.fw_control_yaw_wheel = false;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000; msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
// send heartbeat together with attitude setpoint // send heartbeat together with attitude setpoint
send_heartbeat(); send_heartbeat();