sem/5g_drone_ROS2
1
0
Fork 0
Code Issues 1 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

change to not check for 30

Browse Source
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files

28
src/px4_connection/src/px4_controller.cpp
View File

@@ -59,23 +59,23 @@ private:
void send_trajectory_setpoint() void send_trajectory_setpoint()
{ {
auto msg = px4_msgs::msg::TrajectorySetpoint(); 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) // if (setpoint_count < 30)
{ // {
msg.velocity[0] = 5;
msg.velocity[1] = 5;
msg.velocity[2] = 20;
msg.yawspeed = 0;
} else { // } else {
//try to hover // //try to hover
msg.velocity[0] = 0; // msg.velocity[0] = 0;
msg.velocity[1] = 0; // msg.velocity[1] = 0;
msg.velocity[2] = 0; // msg.velocity[2] = 0;
msg.yawspeed = 1; // msg.yawspeed = 1;
} // }
msg.yaw = -3.14; msg.yaw = -3.14;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000; msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
trajectory_setpoint_publisher->publish(msg); trajectory_setpoint_publisher->publish(msg);