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Sem van der Hoeven
2023-05-12 14:54:22 +02:00
parent cdc8a9fed2
commit e4e9d60ead
1 changed files with 3 additions and 0 deletions
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3
src/px4_connection/src/px4_controller.cpp
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@@ -273,14 +273,17 @@ private:
{ {
if (current_control_mode == CONTROL_MODE_ATTITUDE) if (current_control_mode == CONTROL_MODE_ATTITUDE)
{ {
RCLCPP_INFO(this->get_logger(), "Sending attitude setpoint");
send_attitude_setpoint(new_setpoint); send_attitude_setpoint(new_setpoint);
} }
else if (current_control_mode == CONTROL_MODE_VELOCITY) else if (current_control_mode == CONTROL_MODE_VELOCITY)
{ {
RCLCPP_INFO(this->get_logger(), "Sending velocity setpoint");
send_velocity_setpoint(); send_velocity_setpoint();
} }
else if (current_control_mode == CONTROL_MODE_POSITION) else if (current_control_mode == CONTROL_MODE_POSITION)
{ {
RCLCPP_INFO(this->get_logger(), "Sending position setpoint");
send_position_setpoint(); send_position_setpoint();
} }
} }