Takeoff heading parameter has no effect - Githubissues

Auterion / px4-ros2-interface-lib

Library to interface with PX4 from a companion computer using ROS 2

BSD 3-Clause "New" or "Revised" License

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Takeoff heading parameter has no effect #50

Open damien-robotsix opened 1 month ago

damien-robotsix commented 1 month ago

Hello,

Testing the take_off action (void ModeExecutorBase::takeoff). I realized that the heading was not taken into account.

Given my quick investigation, this is due to the handling on PX4 side. It seems to be completely discarded. https://github.com/PX4/PX4-Autopilot/blob/97561d7802eddb899f1c4f0a3a3ae9aa4c26bb73/src/modules/navigator/navigator_main.cpp#L620

Or maybe I didn't get something but for now I didn't manage to set the yaw during take-off.

No big deal but maybe worth removing the variable since it has no impact.

bkueng commented 1 month ago

Agreed, then let's remove it for now. I just thought it would be nice to have and rather make it work on the PX4 side.