diff options
Diffstat (limited to 'src/platforms/ros')
| -rw-r--r-- | src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp b/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp index 402d47783..027b29a87 100644 --- a/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp +++ b/src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp @@ -44,6 +44,7 @@ #include <platforms/px4_middleware.h> #include <geometry_msgs/PoseStamped.h> #include <std_msgs/Float64.h> +#include <math.h> DemoOffboardAttitudeSetpoints::DemoOffboardAttitudeSetpoints() : _n(), @@ -69,7 +70,7 @@ int DemoOffboardAttitudeSetpoints::main() _attitude_sp_pub.publish(pose); std_msgs::Float64 thrust; - thrust.data = 0.5; + thrust.data = 0.4f + 0.25 * (sinf(2.0f * (float)px4::get_time_micros() / 1000000.0f)); // just some example throttle input that makes the quad 'jump' _thrust_sp_pub.publish(thrust); } return 0; |