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

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 +14 -14
1 changed files with 14 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit ac759ace13 - Show all commits

28
src/px4_connection/src/px4_controller.cpp
View File

@@ -59,23 +59,23 @@ private:
void send_trajectory_setpoint()
{
auto msg = px4_msgs::msg::TrajectorySetpoint();
msg.velocity[0] = 5;
msg.velocity[1] = 5;
msg.velocity[2] = -15;
msg.yawspeed = 0;
if (setpoint_count < 30)
{
msg.velocity[0] = 5;
msg.velocity[1] = 5;
msg.velocity[2] = 20;
msg.yawspeed = 0;
// if (setpoint_count < 30)
// {
} else {
//try to hover
msg.velocity[0] = 0;
msg.velocity[1] = 0;
msg.velocity[2] = 0;
msg.yawspeed = 1;
// } else {
// //try to hover
// msg.velocity[0] = 0;
// msg.velocity[1] = 0;
// msg.velocity[2] = 0;
// msg.yawspeed = 1;
}
msg.yaw = -3.14;
// }
msg.yaw = -3.14;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
trajectory_setpoint_publisher->publish(msg);