Commit 53a90fa3 authored by Léo Coquet's avatar Léo Coquet
Browse files
parents 980ef957 e1b2198d
Pipeline #1542 failed with stage
in 1 minute and 17 seconds
......@@ -41,11 +41,11 @@ ofstream compassy;
blc_channel blc_control_arm("/pixhawk.control.arm", BLC_CHANNEL_READ, 'IN16', 'NDEF', 1, 1); // 1=on, 0=off;
blc_channel blc_control_remote_vector("/pixhawk.control.remoteVectors", BLC_CHANNEL_WRITE, 'FL32', 'NDEF', 1, 4);
//Channels use to control manually the drone
//Channels use to control manually the drone
blc_channel blc_control_motors("/pixhawk.control.motors", BLC_CHANNEL_READ, 'FL32', 'NDEF', 1, 4); //x, y, z, r
//Channels use to command the drone
blc_channel blc_control_commands("/pixhawk.control.commands", BLC_CHANNEL_READ, 'FL32', 'NDEF', 1, 5); // 1=on, 0=off
blc_channel blc_control_commands("/pixhawk.control.commands", BLC_CHANNEL_READ, 'FL32', 'NDEF', 1, 9); // 1=on, 0=off
blc_channel blc_highres_imu("/pixhawk.sensors.imu", BLC_CHANNEL_WRITE, 'FL32', 'NDEF', 1, 9);
//Channel use to know altitude of drone
blc_channel blc_attitude("/pixhawk.sensors.attitude", BLC_CHANNEL_WRITE, 'FL32', 'NDEF', 1, 7);
......@@ -59,7 +59,7 @@ blc_channel blc_test_detection("/pixhawk.test.detection", BLC_CHANNEL_READ, 'IN1
void command_loop()
{
int ret;
int ret;
mavlink_message_t message;
string buffer_command = "";
......@@ -172,6 +172,10 @@ drone1.command_setMode(DRONE_OFF);
{
drone1.command_kill(0);
}
else if(buffer_command=="j")
{
drone1.move_drone_to(1,0,0);
}
/* else if(buffer_command=="n")
{
drone1.waypoint(0.1,0.1,0.1);
......
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