From d635b286ff2bc4fb7b17e7d0411582e732811688 Mon Sep 17 00:00:00 2001 From: CWRUbotix Mac 2 Date: Sat, 25 Jan 2025 15:59:38 -0500 Subject: [PATCH] Changed aux1 to float --- .../flight_control/flight_control/manual_control_node.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/surface/flight_control/flight_control/manual_control_node.py b/src/surface/flight_control/flight_control/manual_control_node.py index d13c4c27..10a98259 100644 --- a/src/surface/flight_control/flight_control/manual_control_node.py +++ b/src/surface/flight_control/flight_control/manual_control_node.py @@ -102,7 +102,6 @@ def __init__(self) -> None: self.valve_manip_state = False def controller_callback(self, msg: Joy) -> None: - self.get_logger().debug("Controller Callback") self.joystick_to_pixhawk(msg) self.valve_manip_callback(msg) self.manip_callback(msg) @@ -112,8 +111,6 @@ def joystick_to_pixhawk(self, msg: Joy) -> None: axes: MutableSequence[float] = msg.axes buttons: MutableSequence[int] = msg.buttons - self.get_logger().debug("PixhawkInstruction creation") - instruction = PixhawkInstruction( forward=float(axes[LJOYY]), # Left Joystick Y lateral=-float(axes[LJOYX]), # Left Joystick X @@ -122,7 +119,7 @@ def joystick_to_pixhawk(self, msg: Joy) -> None: pitch=float(axes[RJOYY]), # Right Joystick Y yaw=-float(axes[RJOYX]), # Right Joystick X author=PixhawkInstruction.MANUAL_CONTROL, - aux1=1900 + aux1=float(1900) ) self.rc_pub.publish(instruction)