add sending different setpoints

2023-05-12 13:56:49 +02:00
parent 3da7ac0306
commit 55e7af159f
4 changed files with 111 additions and 72 deletions
--- a/src/px4_connection/include/drone_control_modes.h
+++ b/src/px4_connection/include/drone_control_modes.h
@@ -5,6 +5,9 @@
 #define CONTROL_MODE_VELOCITY 2
 #define CONTROL_MODE_POSITION 3

+#define CONTROL_MODE_MIN CONTROL_MODE_ATTITUDE
+#define CONTROL_MODE_MAX CONTROL_MODE_POSITION
+
 #define CONTROL_ACTUATOR_POS 0
 #define CONTROL_BODY_RATE_POS 1
 #define CONTROL_ATTITUDE_POS 2
@@ -12,4 +15,6 @@
 #define CONTROL_VELOCITY_POS 4
 #define CONTROL_POSITION_POS 5

+
+
 #endif