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try changing yawspeed

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Sem van der Hoeven
2023-05-01 14:02:23 +02:00
parent 65cd11ca11
commit c7dd7a25a0
1 changed files with 3 additions and 1 deletions
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4
src/px4_connection/src/px4_controller.cpp
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@@ -66,6 +66,7 @@ private:
msg.velocity[1] = 0; msg.velocity[1] = 0;
msg.velocity[2] = D_SPEED(10); msg.velocity[2] = D_SPEED(10);
msg.yawspeed = 0; msg.yawspeed = 0;
msg.yaw = -3.14;
} else { } else {
if (!has_swithed) if (!has_swithed)
{ {
@@ -76,6 +77,7 @@ private:
msg.velocity[1] = 0; msg.velocity[1] = 0;
msg.velocity[2] = D_SPEED(0); msg.velocity[2] = D_SPEED(0);
msg.yawspeed = 1; msg.yawspeed = 1;
msg.yaw = 3.14;
} }
// if (setpoint_count < 30) // if (setpoint_count < 30)
@@ -89,7 +91,7 @@ private:
// msg.yawspeed = 1; // msg.yawspeed = 1;
// } // }
msg.yaw = -3.14;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000; msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
trajectory_setpoint_publisher->publish(msg); trajectory_setpoint_publisher->publish(msg);