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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 else
{ {
if (!new_setpoint) // if (!new_setpoint)
{ // {
return; // return;
} // }
if (current_control_mode == CONTROL_MODE_VELOCITY) 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(); send_velocity_setpoint();
} }
else if (current_control_mode == CONTROL_MODE_POSITION) 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(); send_position_setpoint();
} }
new_setpoint = false; // new_setpoint = false;
} }
} }
} }