sem/5g_drone_ROS2
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Sem van der Hoeven
2023-04-28 20:40:28 +02:00
parent b775f8015c
commit a037b7f00e
1 changed files with 8 additions and 8 deletions
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16
src/px4_connection/src/px4_controller.cpp
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@@ -61,10 +61,10 @@ private:
setpoint_count++; setpoint_count++;
if (setpoint_count % 20 == 0 && thrust <= 1) { // if (setpoint_count % 20 == 0 && thrust <= 1) {
thrust += 0.1; // thrust += 0.1;
RCLCPP_INFO(this->get_logger(), "increasing thrust"); // RCLCPP_INFO(this->get_logger(), "increasing thrust");
} // }
if (setpoint_count == 20) if (setpoint_count == 20)
{ {
@@ -87,11 +87,11 @@ private:
if (this->get_clock()->now().seconds() - start_time_ < 30) if (this->get_clock()->now().seconds() - start_time_ < 30)
{ {
// move up? // move up?
msg.thrust_body[0] = thrust; // north msg.thrust_body[0] = 0; // north
msg.thrust_body[1] = thrust; // east msg.thrust_body[1] = 0; // east
msg.thrust_body[2] = thrust; // down, 100% thrust up msg.thrust_body[2] = 1; // down, 100% thrust up
calculate_quaternion(q, 0.1, degrees_to_radians(20), 0.1); calculate_quaternion(q, 0, degrees_to_radians(20), 0);
} }
else else