sem/5g_drone_ROS2
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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 +3 -1
1 changed files with 3 additions and 1 deletions
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Showing only changes of commit c7dd7a25a0 - Show all commits

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src/px4_connection/src/px4_controller.cpp
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@@ -66,6 +66,7 @@ private:
msg.velocity[1] = 0;
msg.velocity[2] = D_SPEED(10);
msg.yawspeed = 0;
msg.yaw = -3.14;
} else {
if (!has_swithed)
{
@@ -76,6 +77,7 @@ private:
msg.velocity[1] = 0;
msg.velocity[2] = D_SPEED(0);
msg.yawspeed = 1;
msg.yaw = 3.14;
}
// if (setpoint_count < 30)
@@ -89,7 +91,7 @@ private:
// msg.yawspeed = 1;
// }
msg.yaw = -3.14;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
trajectory_setpoint_publisher->publish(msg);