SILVER
/
NODEDC_MISSION_CORE
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix(simulation): rearm rover during active offboard run

This commit is contained in:
DCCONSTRUCTIONS 2026-07-24 22:31:43 +03:00
parent b9ce5f53a0
commit 8ace0cd102
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/k1link/simulation/px4_rover_control.py
View File

@ -240,6 +240,7 @@ class Ros2Px4AckermannControl:
speed_mps = self._latest_speed_mps speed_mps = self._latest_speed_mps
steering_normalized = self._latest_steering_normalized steering_normalized = self._latest_steering_normalized
disarm_requested = self._disarm_requested disarm_requested = self._disarm_requested
control_confirmed = self._armed and self._offboard
timestamp_us = int(node.get_clock().now().nanoseconds // 1_000) timestamp_us = int(node.get_clock().now().nanoseconds // 1_000)
self._publish_setpoint( self._publish_setpoint(
messages, messages,
@ -255,7 +256,7 @@ class Ros2Px4AckermannControl:
heartbeat_count += 1 heartbeat_count += 1
if ( if (
heartbeat_count >= OFFBOARD_WARMUP_HEARTBEATS heartbeat_count >= OFFBOARD_WARMUP_HEARTBEATS
and not self._control_ready.is_set() and not control_confirmed
and now_monotonic - last_mode_request_monotonic >= 1.0 and now_monotonic - last_mode_request_monotonic >= 1.0
): ):
self._publish_vehicle_command( self._publish_vehicle_command(