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

fix typos

Browse Source
This commit is contained in:
Sem van der Hoeven
2023-06-09 18:23:08 +02:00
parent 473de62451
commit bf48ee04c3
1 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/drone_controls/src/PositionChanger.cpp
View File

@@ -315,10 +315,10 @@ public:
void handle_height_message(const drone_services::msg::HeightData::SharedPtr message) void handle_height_message(const drone_services::msg::HeightData::SharedPtr message)
{ {
this->current_height = message->height; this->current_height = message->min_height;
if (!this->got_ready_drone_request) if (!this->got_ready_drone_request)
{ {
this->start_height = message->height; this->start_height = message->min_height;
} }
if (this->is_landing) if (this->is_landing)
{ {
@@ -508,6 +508,7 @@ private:
rclcpp::Publisher<drone_services::msg::FailsafeMsg>::SharedPtr failsafe_publisher; rclcpp::Publisher<drone_services::msg::FailsafeMsg>::SharedPtr failsafe_publisher;
rclcpp::Subscription<drone_services::msg::LidarReading>::SharedPtr lidar_subscription; rclcpp::Subscription<drone_services::msg::LidarReading>::SharedPtr lidar_subscription;
rclcpp::Subscription<px4_msgs::msg::VehicleOdometry>::SharedPtr odometry_subscription; rclcpp::Subscription<px4_msgs::msg::VehicleOdometry>::SharedPtr odometry_subscription;
rclcpp::Subscription<drone_services::msg::HeightData>::SharedPtr height_subscription;
rclcpp::Client<drone_services::srv::SetTrajectory>::SharedPtr trajectory_client; rclcpp::Client<drone_services::srv::SetTrajectory>::SharedPtr trajectory_client;
rclcpp::Client<drone_services::srv::SetAttitude>::SharedPtr attitude_client; rclcpp::Client<drone_services::srv::SetAttitude>::SharedPtr attitude_client;
@@ -535,6 +536,7 @@ private:
float current_height = 0; float current_height = 0;
float start_height = -1; float start_height = -1;
bool is_landing = false; bool is_landing = false;
bool has_landed = false;
bool move_direction_allowed[4] = {true}; // whether the drone can move in a certain direction bool move_direction_allowed[4] = {true}; // whether the drone can move in a certain direction
float collision_prevention_weights[4] = {0}; // the amount to move away from an object in a certain direction if the drone is too close float collision_prevention_weights[4] = {0}; // the amount to move away from an object in a certain direction if the drone is too close
bool failsafe_enabled = false; bool failsafe_enabled = false;