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add only sending setpoint when new setpoint has arrived

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Sem van der Hoeven
2023-05-15 15:33:58 +02:00
parent 1dc9234400
commit 7d316ce740
1 changed files with 5 additions and 5 deletions
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10
src/px4_connection/src/px4_controller.cpp
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@@ -382,10 +382,10 @@ private:
} }
else else
{ {
// if (!new_setpoint) if (!new_setpoint)
// { {
// return; return;
// } }
if (current_control_mode == CONTROL_MODE_VELOCITY) if (current_control_mode == CONTROL_MODE_VELOCITY)
{ {
RCLCPP_INFO(this->get_logger(), "velocity %f %f %f", velocity[0], velocity[1], velocity[2]); RCLCPP_INFO(this->get_logger(), "velocity %f %f %f", velocity[0], velocity[1], velocity[2]);
@@ -396,7 +396,7 @@ private:
RCLCPP_INFO(this->get_logger(), "position %f %f %f", position[0], position[1], position[2]); RCLCPP_INFO(this->get_logger(), "position %f %f %f", position[0], position[1], position[2]);
send_position_setpoint(); send_position_setpoint();
} }
// new_setpoint = false; new_setpoint = false;
} }
} }
} }