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add up down handling

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Sem van der Hoeven
2023-05-25 12:53:03 +02:00
parent 47ff135422
commit f356f45c26
1 changed files with 1 additions and 0 deletions
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src/drone_controls/src/PositionChanger.cpp
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@@ -179,6 +179,7 @@ public:
return; return;
} }
this->current_yaw += request->angle * (M_PI / 180.0); // get the angle in radians this->current_yaw += request->angle * (M_PI / 180.0); // get the angle in radians
this->current_speed_z = request->up_down;
get_x_y_with_rotation(request->front_back, request->left_right, this->current_yaw, &this->current_speed_x, &this->current_speed_y); get_x_y_with_rotation(request->front_back, request->left_right, this->current_yaw, &this->current_speed_x, &this->current_speed_y);
RCLCPP_INFO(this->get_logger(), "Calculated speed x: %f, y: %f", this->current_speed_x, this->current_speed_y); RCLCPP_INFO(this->get_logger(), "Calculated speed x: %f, y: %f", this->current_speed_x, this->current_speed_y);
send_trajectory_message(); send_trajectory_message();