From 7ff84c0dcf48e128ae98c52ae6affd43aa46d341 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 21 Feb 2015 11:12:04 +0100
Subject: ros: offboard attitude demo node: make quad jump

---
 .../demo_offboard_attitude_setpoints.cpp                               | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'src/platforms')

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;
-- 
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