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9 dji m30t cannot obtain control authority but dji example works #10

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Merged
merged 2 commits into from
Mar 17, 2025
Merged

9 dji m30t cannot obtain control authority but dji example works #10

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cef5775
obtain control authority moved to set offboard mode
javilinos Mar 6, 2025
910451f
check control authority before go to, add sleep after takeoff and land
javilinos Mar 6, 2025
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12 changes: 10 additions & 2 deletions src/as2_platform_dji_psdk.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -172,9 +172,11 @@ bool DJIMatricePSDKPlatform::ownSetOffboardControl(bool offboard)
{
if (!offboard) {
// Release control authority
RCLCPP_INFO(this->get_logger(), "Releasing control authority");
return setControlAuthority(false);
}
return true;
RCLCPP_INFO(this->get_logger(), "Obtain control authority");
return setControlAuthority(true);
}

bool DJIMatricePSDKPlatform::ownSetPlatformControlMode(const as2_msgs::msg::ControlMode & msg)
Expand All @@ -196,7 +198,7 @@ bool DJIMatricePSDKPlatform::ownSetPlatformControlMode(const as2_msgs::msg::Cont
{
// Obtain control authority
RCLCPP_INFO(this->get_logger(), "HOVER || SPEED MODE: Obtain control authority");
success = setControlAuthority(true);
success = ctl_authority_;
break;
}
default:
Expand Down Expand Up @@ -275,6 +277,9 @@ bool DJIMatricePSDKPlatform::ownTakeoff()
bool success = result && response->success;
if (!success) {
RCLCPP_INFO(this->get_logger(), "Could not takeoff due to '%s'", response->message.data());
} else {
// sleep 10 seconds to wait for the takeoff
rclcpp::sleep_for(std::chrono::seconds(10));
}
return success;
}
Expand All @@ -289,6 +294,9 @@ bool DJIMatricePSDKPlatform::ownLand()
bool success = result && response->success;
if (!success) {
RCLCPP_INFO(this->get_logger(), "Could not land due to '%s'", response->message.data());
} else {
// sleep 10 seconds to wait for the land
rclcpp::sleep_for(std::chrono::seconds(10));
}
return success;
}
Expand Down