Merge pull request #553 from HarukiKozukapenguin/PR/acc_nav/landing_h…

…alt_cmd [Aerial Robot Control] landing, halt command during vel acc-based mode
jsk-ros-pkg · Aug 5, 2023 · edc06a5 · edc06a5
2 parents 5f1a6e0 + 2cebc7a
commit edc06a5
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/aerial_robot_control/include/aerial_robot_control/flight_navigation.h b/aerial_robot_control/include/aerial_robot_control/flight_navigation.h
@@ -478,13 +478,18 @@ namespace aerial_robot_navigation
 
     void setTargetXyFromCurrentState()
     {
+      setXyControlMode(POS_CONTROL_MODE);
       tf::Vector3 pos_cog = estimator_->getPos(Frame::COG, estimate_mode_);
       target_pos_.setX(pos_cog.x());
       target_pos_.setY(pos_cog.y());
 
       // set the velocty to zero
       target_vel_.setX(0);
       target_vel_.setY(0);
+
+      // set the acceleration to zero
+      setTargetAccX(0);
+      setTargetAccY(0);
     }
 
     void setTargetZFromCurrentState()