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rover: publish vehicle_thrust_setpoint & vehicle_torque_setpoint

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This commit is contained in:
Beat Küng
2021-11-29 13:51:12 +01:00
committed by Daniel Agar
parent 5da67e2e28
commit 4becd6e4c7
2 changed files with 18 additions and 0 deletions
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src/modules/rover_pos_control/RoverPositionControl.cpp
+14
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@@ -496,6 +496,20 @@ RoverPositionControl::Run()
// timestamp and publish controls
_act_controls.timestamp = hrt_absolute_time();
_actuator_controls_pub.publish(_act_controls);
vehicle_thrust_setpoint_s v_thrust_sp{};
v_thrust_sp.timestamp = hrt_absolute_time();
v_thrust_sp.xyz[0] = _act_controls.control[actuator_controls_s::INDEX_THROTTLE];
v_thrust_sp.xyz[1] = 0.0f;
v_thrust_sp.xyz[2] = 0.0f;
_vehicle_thrust_setpoint_pub.publish(v_thrust_sp);
vehicle_torque_setpoint_s v_torque_sp{};
v_torque_sp.timestamp = hrt_absolute_time();
v_torque_sp.xyz[0] = _act_controls.control[actuator_controls_s::INDEX_ROLL];
v_torque_sp.xyz[1] = _act_controls.control[actuator_controls_s::INDEX_PITCH];
v_torque_sp.xyz[2] = _act_controls.control[actuator_controls_s::INDEX_YAW];
_vehicle_torque_setpoint_pub.publish(v_torque_sp);
}
}
}