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change flying bool to user_in_control for clarity

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Sem van der Hoeven
2023-05-15 10:33:27 +02:00
parent 33872ab999
commit d1c8ca537f
1 changed files with 5 additions and 5 deletions
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10
src/px4_connection/src/px4_controller.cpp
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@@ -77,7 +77,7 @@ private:
rclcpp::TimerBase::SharedPtr timer_; rclcpp::TimerBase::SharedPtr timer_;
double start_time_; double start_time_;
bool has_sent_status = false; 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 armed = false;
bool has_swithed = false; bool has_swithed = false;
int setpoint_count = 0; int setpoint_count = 0;
@@ -193,7 +193,7 @@ private:
if (armed) if (armed)
{ {
armed = false; armed = false;
flying = false; user_in_control = false;
publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0, 0); publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0, 0);
response->success = true; response->success = true;
} }
@@ -318,8 +318,8 @@ private:
send_attitude_setpoint(); 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); // RCLCPP_INFO(this->get_logger(), "current values: %f %f %f %f", last_setpoint[0], last_setpoint[1], last_setpoint[2], last_thrust);
if (!flying) if (!user_in_control)
{ {
RCLCPP_INFO(this->get_logger(), "Sending idle attitude setpoint"); RCLCPP_INFO(this->get_logger(), "Sending idle attitude setpoint");
send_attitude_setpoint(); send_attitude_setpoint();
@@ -379,7 +379,7 @@ private:
{ {
current_control_mode = msg->control_mode; current_control_mode = msg->control_mode;
RCLCPP_INFO(this->get_logger(), "Got valid 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 else
{ {