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debug for communication.py

This commit is contained in:
robin_shaun 2021-10-23 18:20:39 +08:00
parent 35baa75fb5
commit 24d4036c8b
1 changed files with 2 additions and 2 deletions
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4
communication/multirotor_communication.py
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@ -110,7 +110,7 @@ class Communication:
if(self.motion_type == 1):
target_raw_pose.type_mask = PositionTarget.IGNORE_PX + PositionTarget.IGNORE_PY + PositionTarget.IGNORE_PZ \
+ PositionTarget.IGNORE_AFX + PositionTarget.IGNORE_AFY + PositionTarget.IGNORE_AFZ \
+ PositionTarget.IGNORE_YAW_RATE
+ PositionTarget.IGNORE_YAW
if(self.motion_type == 2):
target_raw_pose.type_mask = PositionTarget.IGNORE_PX + PositionTarget.IGNORE_PY + PositionTarget.IGNORE_PZ \
+ PositionTarget.IGNORE_VX + PositionTarget.IGNORE_VY + PositionTarget.IGNORE_VZ \
@ -135,7 +135,7 @@ class Communication:
if self.hover_flag == 0:
self.coordinate_frame = 8
self.motion_type = 1
self.target_motion = self.construct_target(vx=msg.linear.x,vy=msg.linear.y,vz=msg.linear.z,yaw = msg.angular.z)
self.target_motion = self.construct_target(vx=msg.linear.x,vy=msg.linear.y,vz=msg.linear.z,yaw_rate=msg.angular.z)
def cmd_vel_enu_callback(self, msg):
self.hover_state_transition(msg.linear.x, msg.linear.y, msg.linear.z, msg.angular.z)