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 +2 -2
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit b03951faab - Show all commits

4
src/px4_connection/src/px4_controller.cpp
View File

@@ -74,11 +74,11 @@ private:
msg.thrust_body[2] = 1; // down, 100% thrust up
calculate_quaternion(q, 0, -3.14, 0);
} else if (this->get_clock()->now().seconds() - start_time > 20)
} else if (this->get_clock()->now().seconds() - start_time_ > 20)
{
if (armed)
{
publish_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0);
publish_vehicle_command(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0);
armed = false;
RCLCPP_INFO(this->get_logger(), "Disarm command sent after 20 seconds");
}