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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
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src/px4_connection/src/px4_controller.cpp
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@@ -170,9 +170,9 @@ private:
msg.thrust_body[1] = 0; // east
msg.thrust_body[2] = -last_thrust;
RCLCPP_INFO(this->get_logger(), "yaw:%f pitch:%f roll:%f thrust:%f", last_setpoint[0], last_setpoint[1], last_setpoint[2], last_thrust);
calculate_quaternion(q, last_setpoint[0], last_setpoint[1], last_setpoint[2]);
RCLCPP_INFO(this->get_logger(), "yaw:%f pitch:%f roll:%f thrust:%f", q.at(0), q.at(1), q.at(2), last_thrust);
// }
// else
// {