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change to use d_speed

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Sem van der Hoeven
2023-05-01 12:47:31 +02:00
parent 500356f4e9
commit 568197a95a
1 changed files with 3 additions and 3 deletions
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6
src/px4_connection/src/px4_controller.cpp
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@@ -60,11 +60,11 @@ private:
{ {
auto msg = px4_msgs::msg::TrajectorySetpoint(); 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[0] = 0;
msg.velocity[1] = 0; msg.velocity[1] = 0;
msg.velocity[2] = -15; msg.velocity[2] = D_SPEED(10);
msg.yawspeed = 0; msg.yawspeed = 0;
} else { } else {
if (!has_swithed) if (!has_swithed)
@@ -74,7 +74,7 @@ private:
} }
msg.velocity[0] = 0; msg.velocity[0] = 0;
msg.velocity[1] = 0; msg.velocity[1] = 0;
msg.velocity[2] = 0; msg.velocity[2] = D_SPEED(0);
msg.yawspeed = 0; msg.yawspeed = 0;
} }