sem/5g_drone_ROS2
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merge Service branch into main #5

Merged
SemvdH merged 193 commits from service into main 2023-05-08 13:42:59 +00:00
Conversation 0 Commits 193 Files Changed 27 +3 -3
1 changed files with 3 additions and 3 deletions
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Showing only changes of commit 568197a95a - Show all commits

6
src/px4_connection/src/px4_controller.cpp
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@@ -60,11 +60,11 @@ private:
{
auto msg = px4_msgs::msg::TrajectorySetpoint();
if (this->get_clock()->now().seconds() - start_time_ < 20)
if (this->get_clock()->now().seconds() - start_time_ < 10)
{
msg.velocity[0] = 0;
msg.velocity[1] = 0;
msg.velocity[2] = -15;
msg.velocity[2] = D_SPEED(10);
msg.yawspeed = 0;
} else {
if (!has_swithed)
@@ -74,7 +74,7 @@ private:
}
msg.velocity[0] = 0;
msg.velocity[1] = 0;
msg.velocity[2] = 0;
msg.velocity[2] = D_SPEED(0);
msg.yawspeed = 0;
}