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try continuous sending of setpoints

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Sem van der Hoeven
2023-05-15 11:10:19 +02:00
parent fa4af5b39f
commit 5afec281a2
1 changed files with 7 additions and 7 deletions
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14
src/px4_connection/src/px4_controller.cpp
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@@ -337,21 +337,21 @@ private:
}
else
{
if (!new_setpoint)
{
return;
}
// if (!new_setpoint)
// {
// return;
// }
if (current_control_mode == CONTROL_MODE_VELOCITY)
{
RCLCPP_INFO(this->get_logger(), "Sending velocity setpoint");
RCLCPP_INFO(this->get_logger(), "velocity %f %f %f", velocity[0], velocity[1], velocity[2]);
send_velocity_setpoint();
}
else if (current_control_mode == CONTROL_MODE_POSITION)
{
RCLCPP_INFO(this->get_logger(), "Sending position setpoint");
RCLCPP_INFO(this->get_logger(), "position %f %f %f", position[0], position[1], position[2]);
send_position_setpoint();
}
new_setpoint = false;
// new_setpoint = false;
}
}
}