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fix trajectory setpoint control mode checking

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Sem van der Hoeven
2023-05-15 10:49:15 +02:00
parent 3d74ee2c41
commit 8cb032b8d7
1 changed files with 1 additions and 1 deletions
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src/px4_connection/src/px4_controller.cpp
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@@ -149,7 +149,7 @@ private:
const std::shared_ptr<drone_services::srv::SetTrajectory::Request> request, const std::shared_ptr<drone_services::srv::SetTrajectory::Request> request,
const std::shared_ptr<drone_services::srv::SetTrajectory::Response> response) const std::shared_ptr<drone_services::srv::SetTrajectory::Response> response)
{ {
if (request->control_mode != CONTROL_MODE_VELOCITY || request->control_mode != CONTROL_MODE_POSITION) if (!(request->control_mode == CONTROL_MODE_VELOCITY || request->control_mode == CONTROL_MODE_POSITION))
{ {
RCLCPP_INFO(this->get_logger(), "Got invalid trajectory control mode: %d", request->control_mode); RCLCPP_INFO(this->get_logger(), "Got invalid trajectory control mode: %d", request->control_mode);
response->success = false; response->success = false;