From b4494a726d2e22e3a9e585b435f825d064905250 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Fri, 28 Apr 2023 16:47:54 +0200 Subject: [PATCH] change heartbeat to attitude --- src/px4_connection/src/heartbeat.cpp | 4 ++-- src/px4_ros_com | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/px4_connection/src/heartbeat.cpp b/src/px4_connection/src/heartbeat.cpp index e755c222..9aeda743 100644 --- a/src/px4_connection/src/heartbeat.cpp +++ b/src/px4_connection/src/heartbeat.cpp @@ -40,9 +40,9 @@ private: // set message to enable attitude auto msg = px4_msgs::msg::OffboardControlMode(); msg.position = false; - msg.velocity = true; + msg.velocity = false; msg.acceleration = false; - msg.attitude = false; + msg.attitude = true; msg.body_rate = false; msg.actuator = false; diff --git a/src/px4_ros_com b/src/px4_ros_com index 1562ff30..0bcf68bc 160000 --- a/src/px4_ros_com +++ b/src/px4_ros_com @@ -1 +1 @@ -Subproject commit 1562ff30d56b7ba26e4d2436724490f900cc2375 +Subproject commit 0bcf68bcb635199adcd134e8932932054e863c0d