From 65cd11ca11afcc50e49d1749a357532e14310deb Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Mon, 1 May 2023 13:59:48 +0200
Subject: [PATCH] add changing yawspeed

---
 src/px4_connection/src/px4_controller.cpp | 4 ++--
 src/px4_msgs                              | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp
index b09d2a0a..2ae4a8b3 100644
--- a/src/px4_connection/src/px4_controller.cpp
+++ b/src/px4_connection/src/px4_controller.cpp
@@ -72,10 +72,10 @@ private:
                 RCLCPP_INFO(this->get_logger(), "switching to 0 vel");
                 has_swithed = true;
             }
-            msg.velocity[0] = 0;
+            msg.velocity[0] = 1;
             msg.velocity[1] = 0;
             msg.velocity[2] = D_SPEED(0);
-            msg.yawspeed = 0;
+            msg.yawspeed = 1;
         }
 
         // if (setpoint_count < 30)
diff --git a/src/px4_msgs b/src/px4_msgs
index ffc3a4cd..b64ef047 160000
--- a/src/px4_msgs
+++ b/src/px4_msgs
@@ -1 +1 @@
-Subproject commit ffc3a4cd578776213a444abe17d7eabf9621b266
+Subproject commit b64ef0475c1d44605688f4770899fe453d532be4