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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 +10 -10
1 changed files with 10 additions and 10 deletions
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20
src/px4_connection/src/px4_controller.cpp
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@@ -83,16 +83,16 @@ private:
{
if (armed)
{
if (request->yaw == 0 && request->pitch = 0 && request->roll = 0)
{
last_setpoint[0] = degrees_to_radians(request->yaw);
last_setpoint[1] = degrees_to_radians(request->pitch);
last_setpoint[2] = degrees_to_radians(request->roll);
} else {
last_setpoint[0] += degrees_to_radians(request->yaw);
last_setpoint[1] += degrees_to_radians(request->pitch);
last_setpoint[2] += degrees_to_radians(request->roll);
}
// if (request->yaw == 0 && request->pitch = 0 && request->roll = 0)
// {
// } else {
// last_setpoint[0] += degrees_to_radians(request->yaw);
// last_setpoint[1] += degrees_to_radians(request->pitch);
// last_setpoint[2] += degrees_to_radians(request->roll);
// }
last_thrust = request->thrust;
@@ -169,9 +169,9 @@ private:
// if (this->get_clock()->now().seconds() - start_time_ < 30)
// {
msg.yaw_body = last_setpoint[0];
msg.pitch_body = last_setpoint[1];
msg.roll_body = last_setpoint[2];
// msg.yaw_body = last_setpoint[0];
// msg.pitch_body = last_setpoint[1];
// msg.roll_body = last_setpoint[2];
// move up?
msg.thrust_body[0] = 0; // north
msg.thrust_body[1] = 0; // east