Set chassis follow vel des.

rm-controls · May 27, 2024 · 58f53c7 · 58f53c7
1 parent 780b5bc
commit 58f53c7
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/chassis_gimbal_manual.cpp b/src/chassis_gimbal_manual.cpp
@@ -47,11 +47,14 @@ void ChassisGimbalManual::updateRc(const rm_msgs::DbusData::ConstPtr& dbus_data)
 {
   ManualBase::updateRc(dbus_data);
   gimbal_cmd_sender_->setRate(-dbus_data->ch_l_x, -dbus_data->ch_l_y);
+  chassis_cmd_sender_->setFollowVelDes(gimbal_cmd_sender_->getMsg()->rate_yaw);
 }
+
 void ChassisGimbalManual::updatePc(const rm_msgs::DbusData::ConstPtr& dbus_data)
 {
   ManualBase::updatePc(dbus_data);
   gimbal_cmd_sender_->setRate(-dbus_data->m_x * gimbal_scale_, dbus_data->m_y * gimbal_scale_);
+  chassis_cmd_sender_->setFollowVelDes(gimbal_cmd_sender_->getMsg()->rate_yaw);
 }
 
 void ChassisGimbalManual::checkReferee()