From 568197a95aa741bcd7263adbe2fff3925abc10db Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 1 May 2023 12:47:31 +0200 Subject: [PATCH] change to use d_speed --- src/px4_connection/src/px4_controller.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp index 7240728c..b09d2a0a 100644 --- a/src/px4_connection/src/px4_controller.cpp +++ b/src/px4_connection/src/px4_controller.cpp @@ -60,11 +60,11 @@ private: { auto msg = px4_msgs::msg::TrajectorySetpoint(); - if (this->get_clock()->now().seconds() - start_time_ < 20) + if (this->get_clock()->now().seconds() - start_time_ < 10) { msg.velocity[0] = 0; msg.velocity[1] = 0; - msg.velocity[2] = -15; + msg.velocity[2] = D_SPEED(10); msg.yawspeed = 0; } else { if (!has_swithed) @@ -74,7 +74,7 @@ private: } msg.velocity[0] = 0; msg.velocity[1] = 0; - msg.velocity[2] = 0; + msg.velocity[2] = D_SPEED(0); msg.yawspeed = 0; }