sem/5g_drone_ROS2
1
0
Fork 0
Code Issues 1 Pull Requests 1 Actions Packages Projects Releases Wiki Activity

cast-iron stuff

Browse Source
This commit is contained in:
Sem van der Hoeven
2023-05-25 12:41:35 +02:00
parent 89a36829f7
commit f5c50f366f
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/drone_controls/src/PositionChanger.cpp
View File

@@ -168,7 +168,7 @@ public:
{
RCLCPP_INFO(this->get_logger(), "Incoming request\nfront_back: %f\nleft_right: %f\nup_down: %f\nangle: %f", request->front_back, request->left_right, request->up_down, request->angle);
// TODO add check_move_direction_allowed results to this calculation
this->current_yaw += (request->angle % (float)360.0) * (M_PI / 180.0); // get the angle in radians
this->current_yaw += (float)(((double)request->angle % 360.0) * (M_PI / 180.0)); // get the angle in radians
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);
send_trajectory_message();