sem/5g_drone_ROS2
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try different values

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Sem van der Hoeven
2023-04-28 17:53:46 +02:00
parent f883d826ec
commit c9f546cb0c
2 changed files with 6 additions and 6 deletions
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2
src/px4_connection/src/heartbeat.cpp
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@@ -26,7 +26,7 @@ public:
// create timer to send heartbeat messages (offboard control) every 100ms // create timer to send heartbeat messages (offboard control) every 100ms
timer_ = this->create_wall_timer(100ms, std::bind(&HeartBeat::send_heartbeat, this)); timer_ = this->create_wall_timer(100ms, std::bind(&HeartBeat::send_heartbeat, this));
start_time = this->get_clock()->now().seconds(); start_time = this->get_clock()->now().seconds();
RCLCPP_INFO(this->get_logger(), "done initializing after %d seconds. Sending heartbeat...", start_time); RCLCPP_INFO(this->get_logger(), "done initializing at %d seconds. Sending heartbeat...", start_time);
} }
private: private:

10
src/px4_connection/src/px4_controller.cpp
View File

@@ -42,7 +42,7 @@ public:
timer_ = this->create_wall_timer(1000ms, std::bind(&PX4Controller::send_setpoint, this)); timer_ = this->create_wall_timer(1000ms, std::bind(&PX4Controller::send_setpoint, this));
start_time_ = this->get_clock()->now().seconds(); start_time_ = this->get_clock()->now().seconds();
RCLCPP_INFO(this->get_logger(), "finished initializing after %d seconds.", start_time_); RCLCPP_INFO(this->get_logger(), "finished initializing at %d seconds.", start_time_);
} }
private: private:
@@ -64,14 +64,14 @@ private:
// result quaternion // result quaternion
std::array<float, 4> q = {0, 0, 0, 0}; std::array<float, 4> q = {0, 0, 0, 0};
if (this->get_clock()->now().seconds() - start_time_ < 5) if (this->get_clock()->now().seconds() - start_time_ < 10)
{ {
// move up? // move up?
msg.thrust_body[0] = 0; // north msg.thrust_body[0] = 0; // north
msg.thrust_body[1] = 0; // east msg.thrust_body[1] = 0.1; // east
msg.thrust_body[2] = 1; // down, 100% thrust up msg.thrust_body[2] = 1; // down, 100% thrust up
calculate_quaternion(q, degrees_to_radians(40), 0, 0); calculate_quaternion(q, degrees_to_radians(10), 0, 0);
} }
else else
{ {
@@ -85,7 +85,7 @@ private:
msg.thrust_body[1] = 0; // east msg.thrust_body[1] = 0; // east
msg.thrust_body[2] = 0; // down msg.thrust_body[2] = 0; // down
calculate_quaternion(q, degrees_to_radians(270), 0, 0); calculate_quaternion(q, degrees_to_radians(10), 0, 0);
} }
msg.q_d[0] = q.at(0); msg.q_d[0] = q.at(0);