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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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1 changed files with 3 additions and 3 deletions
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src/px4_connection/src/px4_controller.cpp
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@@ -62,9 +62,9 @@ private:
msg.thrust_body[2] = -0.1; // down, 10% thrust up
msg.q_d[0] = 0;
msg.q_d[1] = 0;
msg.q_d[2] = 0;
msg.q_d[3] = 0;
msg.q_d[1] = 0.1;
msg.q_d[2] = 0.1;
msg.q_d[3] = 0.1;
msg.timestamp = this->get_clock()->now().nanoseconds() / 1000;
vehicle_setpoint_publisher_->publish(msg);