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Sem van der Hoeven
2023-05-16 15:50:57 +02:00
parent 9b915ee698
commit 6467007795
1 changed files with 4 additions and 4 deletions
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8
src/test_controls/test_controls/test_controller.py
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@@ -104,7 +104,7 @@ class TestController(Node):
self.send_attitude_request(pitch=0.0, yaw=0.0,
roll=0.0, thrust=0.05)
elif (self.control_mode == CONTROL_MODE_VELOCITY):
self.send_velocity_request(x=0.0, y=0.0, z=0.5, angle=0.0)
self.send_velocity_request(x=0.0, y=0.0, z=0.1, angle=0.0)
else:
self.send_position_request(x=0.0, y=0.0, z=0.5, angle=0.0)
@@ -122,7 +122,7 @@ class TestController(Node):
self.send_attitude_request(pitch=0.0, yaw=0.0,
roll=0.0, thrust=-0.05)
elif (self.control_mode == CONTROL_MODE_VELOCITY):
self.send_velocity_request(x=0.0, y=0.0, z=-0.5, angle=0.0)
self.send_velocity_request(x=0.0, y=0.0, z=-0.1, angle=0.0)
else:
self.send_position_request(x=0.0, y=0.0, z=-0.5, angle=0.0)
@@ -185,7 +185,7 @@ class TestController(Node):
self.send_attitude_request(pitch=0.0, yaw=0.0,
roll=0.0, thrust=0.01)
elif (self.control_mode == CONTROL_MODE_VELOCITY):
self.send_velocity_request(x=0.0, y=0.0, z=0.2, angle=0.0)
self.send_velocity_request(x=0.0, y=0.0, z=0.05, angle=0.0)
else:
self.send_position_request(x=0.0, y=0.0, z=1.0, angle=0.0)
@@ -194,7 +194,7 @@ class TestController(Node):
self.send_attitude_request(pitch=0.0, yaw=0.0,
roll=0.0, thrust=-0.01)
elif (self.control_mode == CONTROL_MODE_VELOCITY):
self.send_velocity_request(x=0.0, y=0.0, z=-0.2, angle=0.0)
self.send_velocity_request(x=0.0, y=0.0, z=-0.05, angle=0.0)
else:
self.send_position_request(x=0.0, y=0.0, z=-1.0, angle=0.0)