Commit 7ff84c0d authored by Thomas Gubler's avatar Thomas Gubler
Browse files

ros: offboard attitude demo node: make quad jump

parent 5b042310
......@@ -44,6 +44,7 @@
#include <platforms/px4_middleware.h>
#include <geometry_msgs/PoseStamped.h>
#include <std_msgs/Float64.h>
#include <math.h>
DemoOffboardAttitudeSetpoints::DemoOffboardAttitudeSetpoints() :
_n(),
......@@ -69,7 +70,7 @@ int DemoOffboardAttitudeSetpoints::main()
_attitude_sp_pub.publish(pose);
std_msgs::Float64 thrust;
thrust.data = 0.5;
thrust.data = 0.4f + 0.25 * (sinf(2.0f * (float)px4::get_time_micros() / 1000000.0f)); // just some example throttle input that makes the quad 'jump'
_thrust_sp_pub.publish(thrust);
}
return 0;
......
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