Commit 1425deac authored by oroyalrider's avatar oroyalrider
Browse files

Update velocity_commander.py

parent 68a73749
......@@ -25,7 +25,6 @@ class VelocityCommander(Node):
# class variables
self.t_sync = 0
self.vel = Vector3()
self.pub_counter = 0
# subscription callbacks
self.sub_timesync = self.create_subscription(
......@@ -48,21 +47,8 @@ class VelocityCommander(Node):
self.pub_vel_timer = self.create_timer(.1, self.timer_callback)
def timer_callback(self):
<<<<<<< HEAD
# change to offboard mode after 10 loops
if self.pub_counter == 10:
# set offboard mode
self.pub_vehicle_command(VehicleCommand.VEHICLE_CMD_DO_SET_MODE, 1., 6.)
#self.arm()
=======
>>>>>>> velocity_controller
self.pub_offb_control_mode()
self.pub_trajectory_setpoint()
# stop counter
if self.pub_counter < 11:
self.pub_counter = self.pub_counter + 1
def pub_offb_control_mode(self):
......
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