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merge Service branch into main #5

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SemvdH merged 193 commits from service into main 2023-05-08 13:42:59 +00:00
Conversation 0 Commits 193 Files Changed 27 +13 -4
1 changed files with 13 additions and 4 deletions
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Showing only changes of commit 0b98dfbf02 - Show all commits

17
src/px4_connection/src/px4_controller.cpp
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@@ -70,12 +70,21 @@ private:
bool ready_to_fly = false;
float cur_yaw = 0;
float last_setpoint[3] = {0,0,0};
float last_angle = 0;
void set_setpoint(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<px4_connection::srv::SetAttitude::Request> request,
const std::shared_ptr<px4_connection::srv::SetAttitude::Response> response)
{
last_setpoint[0] = request.x_speed;
last_setpoint[1] = request.y_speed;
last_setpoint[2] = request.x_speed;
last_angle = degrees_to_radians(request.angle);
response.status = ATTITUDE_STATUS_OK;
}
void send_trajectory_setpoint()
@@ -98,11 +107,11 @@ private:
has_swithed = true;
}
msg.velocity[0] = 5;
msg.velocity[1] = 0;
msg.velocity[2] = D_SPEED(0);
msg.velocity[0] = last_setpoint[0];
msg.velocity[1] = last_setpoint[1];
msg.velocity[2] = D_SPEED(last_setpoint[2]);
msg.yawspeed = 0.5;
msg.yaw = degrees_to_radians(80);
msg.yaw = last_angle;
}
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;