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change to not check for 30

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Sem van der Hoeven
2023-05-01 12:38:25 +02:00
parent a739fb51c3
commit ac759ace13
1 changed files with 14 additions and 14 deletions
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28
src/px4_connection/src/px4_controller.cpp
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@@ -59,23 +59,23 @@ private:
void send_trajectory_setpoint()
{
auto msg = px4_msgs::msg::TrajectorySetpoint();
msg.velocity[0] = 5;
msg.velocity[1] = 5;
msg.velocity[2] = -15;
msg.yawspeed = 0;
if (setpoint_count < 30)
{
msg.velocity[0] = 5;
msg.velocity[1] = 5;
msg.velocity[2] = 20;
msg.yawspeed = 0;
// if (setpoint_count < 30)
// {
} else {
//try to hover
msg.velocity[0] = 0;
msg.velocity[1] = 0;
msg.velocity[2] = 0;
msg.yawspeed = 1;
// } else {
// //try to hover
// msg.velocity[0] = 0;
// msg.velocity[1] = 0;
// msg.velocity[2] = 0;
// msg.yawspeed = 1;
}
msg.yaw = -3.14;
// }
msg.yaw = -3.14;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
trajectory_setpoint_publisher->publish(msg);