CopterExpress/clover
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This commit is contained in:
Oleg Kalachev
2022-12-08 08:52:30 +03:00
parent 325d1c317b
commit db293545df
1 changed files with 2 additions and 1 deletions
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clover/src/simple_offboard.cpp
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@@ -759,8 +759,8 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
// }
// }
// Transform position and attitude
if (sp_type == POSITION || sp_type == NAVIGATE || sp_type == NAVIGATE_GLOBAL || sp_type == VELOCITY || sp_type == ATTITUDE) {
// destination point and/or attitude
PoseStamped ps;
ps.header.frame_id = frame_id;
ps.header.stamp = stamp;
@@ -796,6 +796,7 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
setpoint_attitude.quaternion = setpoint_position.pose.orientation;
}
// Transform velocity
if (sp_type == VELOCITY) {
Vector3Stamped vel;
vel.header.frame_id = frame_id;