sem/5g_drone_ROS2
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Sem van der Hoeven
2023-04-28 20:36:01 +02:00
parent 10c0b5ae5f
commit b775f8015c
1 changed files with 4 additions and 4 deletions
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8
src/px4_connection/src/px4_controller.cpp
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@@ -50,7 +50,7 @@ private:
bool has_sent_status = false; bool has_sent_status = false;
bool flying = false; bool flying = false;
int setpoint_count = 0; int setpoint_count = 0;
float thrust = 0; float thrust = 0.5;
/** /**
* @brief Only the attitude is enabled, because that is how the drone will be controlled. * @brief Only the attitude is enabled, because that is how the drone will be controlled.
@@ -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] = 0; // north msg.thrust_body[0] = thrust; // north
msg.thrust_body[1] = 0; // east msg.thrust_body[1] = thrust; // east
msg.thrust_body[2] = thrust; // down, 100% thrust up msg.thrust_body[2] = thrust; // down, 100% thrust up
calculate_quaternion(q, 0, degrees_to_radians(20), 0); calculate_quaternion(q, 0.1, degrees_to_radians(20), 0.1);
} }
else else