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add emergency stop

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Sem van der Hoeven
2023-05-04 14:55:39 +02:00
parent 4f4c148b69
commit b93a616f58
2 changed files with 6 additions and 1 deletions
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1
src/px4_connection/src/px4_controller.cpp
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@@ -102,6 +102,7 @@ private:
last_setpoint[1] = degrees_to_radians(request->pitch); last_setpoint[1] = degrees_to_radians(request->pitch);
last_setpoint[2] = degrees_to_radians(request->roll); last_setpoint[2] = degrees_to_radians(request->roll);
last_thrust = request->thrust; last_thrust = request->thrust;
RCLCPP_INFO(this->get_logger(), "STOPPING MOTORS");
} }
else else
{ {

6
src/test_controls/test_controls/test_controller.py
View File

@@ -16,7 +16,7 @@ class TestController(Node):
self.get_logger().info('service not available, waiting again...') self.get_logger().info('service not available, waiting again...')
self.req = SetAttitude.Request() self.req = SetAttitude.Request()
self.get_logger().info("Controls:\nW - forward\nS - backward\nA - left\nD - right\nQ - rotate left\nE - rotate right\nSpace - up\nShift - down\nEsc - exit") self.get_logger().info("Controls:\nW - forward\nS - backward\nA - left\nD - right\nQ - rotate left\nE - rotate right\nSpace - up\nShift - down\nN - emergency stop\nEsc - exit")
def spin(self): def spin(self):
while rclpy.ok(): while rclpy.ok():
@@ -73,6 +73,10 @@ class TestController(Node):
self.get_logger().info('up') self.get_logger().info('up')
self.send_request(pitch=0.0, yaw=0.0, self.send_request(pitch=0.0, yaw=0.0,
roll=0.0, thrust=0.05) roll=0.0, thrust=0.05)
if key == 'n':
self.get_logger().info('stop')
self.send_request(pitch=0.0, yaw=0.0,
roll=0.0, thrust=0.0)
# else: # else:
# try: # try:
# # known keys like spacebar, ctrl # # known keys like spacebar, ctrl