sem/5g_drone_ROS2
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Sem van der Hoeven
2023-04-28 17:37:07 +02:00
parent b8f572d86f
commit 7a2f19d311
1 changed files with 2 additions and 1 deletions
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3
src/px4_connection/src/px4_controller.cpp
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@@ -59,6 +59,7 @@ private:
{ {
// set message to enable attitude // set message to enable attitude
auto msg = px4_msgs::msg::VehicleAttitudeSetpoint(); auto msg = px4_msgs::msg::VehicleAttitudeSetpoint();
// result quaternion
std::array<float, 4> q = {0, 0, 0, 0}; std::array<float, 4> q = {0, 0, 0, 0};
if (this->get_clock()->now().seconds() - start_time_ < 5) if (this->get_clock()->now().seconds() - start_time_ < 5)
@@ -68,7 +69,7 @@ private:
msg.thrust_body[1] = 0; // east msg.thrust_body[1] = 0; // east
msg.thrust_body[2] = 0.5; // down, 50% thrust up msg.thrust_body[2] = 0.5; // down, 50% thrust up
calculate_quaternion(array, degrees_to_radians(40), 0, 0); calculate_quaternion(q, degrees_to_radians(40), 0, 0);
} }
else else
{ {