From d24f91512fd9facb7ac269c7b07c4cbcbb68959d Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Fri, 28 Apr 2023 15:12:08 +0200 Subject: [PATCH] change quaternion values --- src/px4_connection/src/px4_controller.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/px4_connection/src/px4_controller.cpp b/src/px4_connection/src/px4_controller.cpp index e76ecb2d..43ab653f 100644 --- a/src/px4_connection/src/px4_controller.cpp +++ b/src/px4_connection/src/px4_controller.cpp @@ -62,9 +62,9 @@ private: msg.thrust_body[2] = -0.1; // down, 10% thrust up msg.q_d[0] = 0; - msg.q_d[1] = 0; - msg.q_d[2] = 0; - msg.q_d[3] = 0; + msg.q_d[1] = 0.1; + msg.q_d[2] = 0.1; + msg.q_d[3] = 0.1; msg.timestamp = this->get_clock()->now().nanoseconds() / 1000; vehicle_setpoint_publisher_->publish(msg);