sem/5g_drone_ROS2
1
0
Fork 0
Code Issues 1 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

change back control mode

Browse Source
This commit is contained in:
Sem van der Hoeven
2023-05-12 16:19:27 +02:00
parent 2c4f601759
commit 5b4c6c149c
1 changed files with 4 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
src/px4_connection/src/heartbeat.cpp
View File

@@ -54,22 +54,23 @@ private:
*/
void send_heartbeat()
{
// set message to enable attitude based on control mode variable
auto msg = px4_msgs::msg::OffboardControlMode();
/*
msg.position = (this->control_mode >> CONTROL_POSITION_POS) & 1 ? true : false;
msg.velocity = (this->control_mode >> CONTROL_VELOCITY_POS) & 1 ? true : false;
msg.acceleration = (this->control_mode >> CONTROL_ACCELERATION_POS) & 1 ? true : false;
msg.attitude = (this->control_mode >> CONTROL_ATTITUDE_POS) & 1 ? true : false;
msg.body_rate = (this->control_mode >> CONTROL_BODY_RATE_POS) & 1 ? true : false;
msg.actuator = (this->control_mode >> CONTROL_ACTUATOR_POS) & 1 ? true : false;
*/
/*
msg.position = false;
msg.velocity = false;
msg.acceleration = false;
msg.attitude = true;
msg.body_rate = false;
msg.actuator = false;
*/
// get timestamp and publish message
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
offboard_control_mode_publisher_->publish(msg);