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arm vehicle before engaging offboard mode #160

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arm vehicle before engaging offboard mode #160

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10 changes: 6 additions & 4 deletions src/examples/offboard/offboard_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,11 +89,13 @@ class OffboardControl : public rclcpp::Node {
auto timer_callback = [this]() -> void {

if (offboard_setpoint_counter_ == 10) {

// Arm the vehicle
this->arm();

// Change to Offboard mode after 10 setpoints
this->publish_vehicle_command(VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1, 6);

// Arm the vehicle
this->arm();
}

// offboard_control_mode needs to be paired with trajectory_setpoint
Expand Down Expand Up @@ -133,7 +135,7 @@ class OffboardControl : public rclcpp::Node {
* @brief Send a command to Arm the vehicle
*/
void OffboardControl::arm() const {
publish_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.0);
publish_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, VehicleCommand::ARMING_ACTION_ARM);

RCLCPP_INFO(this->get_logger(), "Arm command send");
}
Expand All @@ -142,7 +144,7 @@ void OffboardControl::arm() const {
* @brief Send a command to Disarm the vehicle
*/
void OffboardControl::disarm() const {
publish_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0);
publish_vehicle_command(VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, VehicleCommand::ARMING_ACTION_DISARM);

RCLCPP_INFO(this->get_logger(), "Disarm command send");
}
Expand Down