src/px4_connection/src/px4_controller.cpp

@@ -75,12 +75,11 @@ private:
                 has_swithed = true;
             }
 
-            cur_yaw += 1 % 360;
-            msg.velocity[0] = 0;
+            msg.velocity[0] = 5;
             msg.velocity[1] = 0;
             msg.velocity[2] = D_SPEED(0);
             msg.yawspeed = 0.5;
-            msg.yaw = degrees_to_radians(cur_yaw);
+            msg.yaw = degrees_to_radians(80);
         }
 
         // if (setpoint_count < 30)

src/px4_connection/srv/SetAttitude.srv

@@ -0,0 +1,9 @@
+#all speeds are in meters/second
+float32 x_speed
+float32 y_speed
+float32 z_speed
+
+#angle is in degrees
+float32 angle
+---
+int status