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better logging

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Sem van der Hoeven
2023-05-15 10:54:20 +02:00
parent 25a9aa3509
commit 61ee751642
1 changed files with 3 additions and 2 deletions
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5
src/px4_connection/src/px4_controller.cpp
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@@ -161,9 +161,9 @@ private:
{ {
for (int i = 0; i < 3; i++) for (int i = 0; i < 3; i++)
{ {
velocity[i] = request->values[i]; velocity[i] += request->values[i];
} }
RCLCPP_INFO(this->get_logger(), "Got new velocity setpoint: %f %f %f", velocity[0], velocity[1], velocity[2]); RCLCPP_INFO(this->get_logger(), "Got new velocity setpoint. %f %f %f", velocity[0], velocity[1], velocity[2]);
} }
else if (request->control_mode == CONTROL_MODE_POSITION) else if (request->control_mode == CONTROL_MODE_POSITION)
{ {
@@ -175,6 +175,7 @@ private:
} }
last_angle = request->yaw; last_angle = request->yaw;
RCLCPP_INFO(this->get_logger(), "Yaw: %f", last_angle);
response->success = true; response->success = true;
} }
} }