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add incrementing/decrementing values

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Sem van der Hoeven
2023-05-03 15:21:49 +02:00
parent 2c3123039e
commit db1322e2de
1 changed files with 9 additions and 9 deletions
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18
src/px4_connection/src/px4_controller.cpp
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@@ -83,16 +83,16 @@ private:
{ {
if (armed) if (armed)
{ {
last_setpoint[1] = degrees_to_radians(request->yaw); if (request->yaw == 0 && request->pitch = 0 && request->roll = 0)
last_setpoint[0] = degrees_to_radians(request->pitch); {
last_setpoint[0] = degrees_to_radians(request->yaw);
last_setpoint[1] = degrees_to_radians(request->pitch);
last_setpoint[2] = degrees_to_radians(request->roll); last_setpoint[2] = degrees_to_radians(request->roll);
// if (request->yaw == 0 && request->pitch = 0 && request->roll = 0) } else {
// { last_setpoint[0] += degrees_to_radians(request->yaw);
// } else { last_setpoint[1] += degrees_to_radians(request->pitch);
// last_setpoint[0] += degrees_to_radians(request->yaw); last_setpoint[2] += degrees_to_radians(request->roll);
// last_setpoint[1] += degrees_to_radians(request->pitch); }
// last_setpoint[2] += degrees_to_radians(request->roll);
// }
last_thrust = request->thrust; last_thrust = request->thrust;