update

tiiuae · Nov 8, 2023 · bab4430 · bab4430
1 parent 251c9d6
commit bab4430
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/gazebo_mavlink_interface.cpp b/src/gazebo_mavlink_interface.cpp
@@ -298,7 +298,7 @@ void GazeboMavlinkInterface::PoseCallback(const gz::msgs::Pose_V &_msg){
 void GazeboMavlinkInterface::ImuCallback(const gz::msgs::IMU &_msg) {
   const std::lock_guard<std::mutex> lock(last_imu_message_mutex_);
   last_imu_message_ = _msg;
-  std::cout << "ImuCallback with data " << last_imu_message_.orientation().z() << std::endl;
+  std::cout << "ImuCallback with data " << last_imu_message_.linear_acceleration().z() << std::endl;
 }
 
 void GazeboMavlinkInterface::BarometerCallback(const gz::msgs::FluidPressure &_msg) {
@@ -473,6 +473,7 @@ void GazeboMavlinkInterface::PublishRotorVelocities(
     gz::sim::EntityComponentManager &_ecm,
     const Eigen::VectorXd &_vels)
 {
+  std::cout << "number of motors " << _vels.size() << std::endl;
   if (_vels.size() != rotor_velocity_message_.velocity_size())
   {
     rotor_velocity_message_.mutable_velocity()->Resize(_vels.size(), 0);

diff --git a/src/mavlink_interface.cpp b/src/mavlink_interface.cpp
@@ -483,7 +483,6 @@ void MavlinkInterface::handle_actuator_controls(mavlink_message_t *msg)
   for (int i = 0; i < input_reference_.size(); i++) {
     input_reference_[i] = controls.controls[i];
   }
-  std::cout << "input_reference_ : " << input_reference_[0] << std::endl;
   received_actuator_ = true;
   received_first_actuator_ = true;
 }