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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 +15 -5
1 changed files with 15 additions and 5 deletions
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Showing only changes of commit 33d173d1e0 - Show all commits

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src/px4_connection/src/px4_controller.cpp
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@@ -60,12 +60,22 @@ private:
{
auto msg = px4_msgs::msg::TrajectorySetpoint();
msg.velocity[0] = 5;
msg.velocity[1] = 5;
msg.velocity[2] = D_SPEED(1);
if (setpoint_count < 30)
{
msg.velocity[0] = 0;
msg.velocity[1] = 0;
msg.velocity[2] = D_SPEED(1);
msg.yawspeed = 0;
msg.yaw = -3.14;
msg.yawspeed = 0;
} else {
//try to hover
msg.velocity[0] = 0;
msg.velocity[1] = 0;
msg.velocity[2] = 0;
msg.yawspeed = 1;
}
msg.yaw = -3.14;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
trajectory_setpoint_publisher->publish(msg);