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Sem van der Hoeven
2023-04-28 18:07:04 +02:00
parent 5b935af894
commit b03951faab
1 changed files with 2 additions and 2 deletions
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4
src/px4_connection/src/px4_controller.cpp
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@@ -74,11 +74,11 @@ private:
msg.thrust_body[2] = 1; // down, 100% thrust up msg.thrust_body[2] = 1; // down, 100% thrust up
calculate_quaternion(q, 0, -3.14, 0); calculate_quaternion(q, 0, -3.14, 0);
} else if (this->get_clock()->now().seconds() - start_time > 20) } else if (this->get_clock()->now().seconds() - start_time_ > 20)
{ {
if (armed) if (armed)
{ {
publish_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0); publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0);
armed = false; armed = false;
RCLCPP_INFO(this->get_logger(), "Disarm command sent after 20 seconds"); RCLCPP_INFO(this->get_logger(), "Disarm command sent after 20 seconds");
} }