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uzh-rpg / rpg_quadrotor_control

Quadrotor control framework developed by the Robotics and Perception Group
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problem of bodyrate controller #109

Open johnwaneboy opened 2 years ago

johnwaneboy commented 2 years ago

I want to control the UAV in the mode of BODY_RATES.

the related code is as follow: self.pub_setpoint = rospy.Publisher('/hummingbird/autopilot/control_command_input', ControlCommand, queue_size=10) aa=ControlCommand() aa.header.stamp =rospy.Time.now() aa.expected_execution_time =rospy.Time.now() aa.control_mode = 2 aa.armed = True aa.bodyrates.x =pi/12 aa.bodyrates.y =pi/12 aa.bodyrates.z =pi/12 aa.collective_thrust = 3.0
self.pub_setpoint.publish(aa)

And the rate is 50Hz

But the UAV has no response, and still in hover state. So what is the problem?