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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 +6 -6
1 changed files with 6 additions and 6 deletions
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src/px4_connection/src/px4_controller.cpp
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@@ -76,14 +76,14 @@ private:
msg.thrust_body[1] = 0; // east
msg.thrust_body[2] = 0; // down
std::array<float, 4> array = {0, 0, 0, 0};
calculate_quaternion(array, degrees_to_radians(270), 0, 0);
std::array<float, 4> q = {0, 0, 0, 0};
calculate_quaternion(q, degrees_to_radians(270), 0, 0);
}
msg.q_d[0] = array[0];
msg.q_d[1] = array[1];
msg.q_d[2] = array[2];
msg.q_d[3] = array[3];
msg.q_d[0] = q[0];
msg.q_d[1] = q[1];
msg.q_d[2] = q[2];
msg.q_d[3] = q[3];
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
vehicle_setpoint_publisher_->publish(msg);