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Updates docs/arduino.md

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Oleg Kalachev
2017-12-07 02:14:21 +03:00
parent 6c7918c2d5
commit 3f676db23b
1 changed files with 15 additions and 12 deletions
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docs/arduino.md
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@@ -85,13 +85,13 @@ void setup()
// Взлет на 2 метра:
nh.loginfo("Take off");
sp_req.yaw = 0;
sp_req.x = 0;
sp_req.y = 0;
sp_req.z = 2;
sp_req.frame_id = "fcu_horiz";
sp_req.auto_arm = true;
setPosition.call(sp_req, sp_res);
nav_req.auto_arm = false;
nav_req.x = 0;
nav_req.y = 0;
nav_req.z = 2;
nav_req.frame_id = "fcu_horiz";
nav_req.speed = 0.5;
navigate.call(nav_req, nav_res);
// Ждем 5 секунд
delay(5000);
@@ -100,10 +100,13 @@ void setup()
// Пролет вперед на 3 метра:
nh.loginfo("Fly forward");
sp_req.x = 3;
sp_req.y = 0;
sp_req.z = 0;
setPosition.call(sp_req, sp_res);
nav_req.auto_arm = false;
nav_req.x = 3;
nav_req.y = 0;
nav_req.z = 0;
nav_req.frame_id = "fcu_horiz";
nav_req.speed = 0.8;
navigate.call(nav_req, nav_res);
// Полет в точку 1:0:2 по маркерному полю
nh.loginfo("Fly on point");
@@ -113,7 +116,7 @@ void setup()
nav_req.z = 2;
nav_req.frame_id = "aruco_map";
nav_req.update_frame = true;
nav_req.speed = 0.5;
nav_req.speed = 0.8;
navigate.call(nav_req, nav_res);
// Ждем 5 секунд