From d1c8ca537f820d926cab2ceb91596f9f4eaf8b70 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 15 May 2023 10:33:27 +0200 Subject: [PATCH] change flying bool to user_in_control for clarity --- src/px4_connection/src/px4_controller.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp index 422639f1..f87222d6 100644 --- a/src/px4_connection/src/px4_controller.cpp +++ b/src/px4_connection/src/px4_controller.cpp @@ -77,7 +77,7 @@ private: rclcpp::TimerBase::SharedPtr timer_; double start_time_; bool has_sent_status = false; - bool flying = false; // if user has taken over control + bool user_in_control = false; // if user has taken over control bool armed = false; bool has_swithed = false; int setpoint_count = 0; @@ -193,7 +193,7 @@ private: if (armed) { armed = false; - flying = false; + user_in_control = false; publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0, 0); response->success = true; } @@ -318,8 +318,8 @@ private: send_attitude_setpoint(); */ - RCLCPP_INFO(this->get_logger(), "current values: %f %f %f %f", last_setpoint[0], last_setpoint[1], last_setpoint[2], last_thrust); - if (!flying) + // RCLCPP_INFO(this->get_logger(), "current values: %f %f %f %f", last_setpoint[0], last_setpoint[1], last_setpoint[2], last_thrust); + if (!user_in_control) { RCLCPP_INFO(this->get_logger(), "Sending idle attitude setpoint"); send_attitude_setpoint(); @@ -379,7 +379,7 @@ private: { current_control_mode = msg->control_mode; RCLCPP_INFO(this->get_logger(), "Got valid control mode"); - flying = true; // user has taken over control + user_in_control = true; // user has taken over control } else {