Merge pull request #352 from allegorywrite/cflib-full-state-cmd

debug cmd_full_state cb
IMRCLab · Nov 14, 2023 · 7de0fe2 · 7de0fe2
2 parents 88eaa66 + c849435
commit 7de0fe2
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/crazyflie/scripts/crazyflie_server.py b/crazyflie/scripts/crazyflie_server.py
@@ -246,7 +246,7 @@ def __init__(self):
  "/cmd_hover", partial(self._cmd_hover_changed, uri=uri), 10
  )
  self.create_subscription(
- Hover, name +
+ FullState, name +
  "/cmd_full_state", partial(self._cmd_full_state_changed, uri=uri), 10
  )
  qos_profile = QoSProfile(reliability =QoSReliabilityPolicy.BEST_EFFORT,
@@ -861,8 +861,8 @@ def _cmd_full_state_changed(self, msg, uri=""):
  pitch_rate = msg.twist.angular.y
  yaw_rate = msg.twist.angular.z
 
- self.swarm._cfs[uri].cf.commander.send_hover_setpoint(pos, vel, acc, q, roll_rate, pitch_rate, yaw_rate)
- self.get_logger().info(f"{uri}: Received full state topic {pose} {vel} {acc} {q}, {roll_rate}, {pitch_rate}, {yaw_rate})
+ self.swarm._cfs[uri].cf.commander.send_full_state_setpoint(pos, vel, acc, q, roll_rate, pitch_rate, yaw_rate)
+ self.get_logger().info(f"{uri}: Received full state topic {pos} {vel} {acc} {q}, {roll_rate}, {pitch_rate}, {yaw_rate}")
 
  def _remove_logging(self, request, response, uri="all"):
  """