From 524e317150b7b7247e32ec89c0791cd80bf21522 Mon Sep 17 00:00:00 2001 From: David St-Onge Date: Mon, 20 Feb 2017 17:55:25 -0500 Subject: [PATCH] test --- src/roscontroller.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp index 1b19a30..a140e3e 100644 --- a/src/roscontroller.cpp +++ b/src/roscontroller.cpp @@ -272,8 +272,8 @@ namespace rosbzz_node{ /*prepare the goto publish message */ cmd_srv.request.param5 = goto_pos[0]; cmd_srv.request.param6 = goto_pos[1]; - cmd_srv.request.param7 = goto_pos[2]; - cmd_srv.request.command = buzzuav_closures::getcmd(); + cmd_srv.request.param7 = cur_pos[2]; //force constant altitude after takeoff, goto_pos[2]; + cmd_srv.request.command = buzzuav_closures::getcmd(); if (mav_client.call(cmd_srv)){ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); } else ROS_ERROR("Failed to call service from flight controller"); cmd_srv.request.command = mavros_msgs::CommandCode::CMD_MISSION_START;