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add compensation for earth gravity pull

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Sem van der Hoeven
2023-05-01 10:56:43 +02:00
parent ae18d7834a
commit 6b33ded940
1 changed files with 3 additions and 1 deletions
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4
src/px4_connection/src/px4_controller.cpp
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@@ -19,6 +19,8 @@ https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-
#include <px4_msgs/msg/vehicle_control_mode.hpp> #include <px4_msgs/msg/vehicle_control_mode.hpp>
// #include <px4_msgs/msg/offboard_control_mode.hpp> // #include <px4_msgs/msg/offboard_control_mode.hpp>
#define D_SPEED(x) x + 9.81
using namespace std::chrono_literals; using namespace std::chrono_literals;
class PX4Controller : public rclcpp::Node class PX4Controller : public rclcpp::Node
@@ -60,7 +62,7 @@ private:
msg.velocity[0] = 2; msg.velocity[0] = 2;
msg.velocity[1] = 0; msg.velocity[1] = 0;
msg.velocity[2] = 1; msg.velocity[2] = D_SPEED(9.81);
msg.yaw = -3.14; msg.yaw = -3.14;
msg.yawspeed = 0; msg.yawspeed = 0;