Merge pull request #1 from Ryanf55/dds-takeoff-float

Dds takeoff float
ArduPilot · Sep 24, 2024 · 7498717 · 7498717
2 parents a7a3bb9 + b2ef371
commit 7498717
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/Tools/ros2/ardupilot_msgs/srv/Takeoff.srv b/Tools/ros2/ardupilot_msgs/srv/Takeoff.srv
@@ -3,7 +3,7 @@
 
 # alt : Set the takeoff altitude above home or above terrain(in case of rangefinder)
 
-uint8 alt
+float32 alt
 ---
 # status    : True if the request for mode switch was successful, False otherwise
 

diff --git a/libraries/AP_DDS/Idl/ardupilot_msgs/srv/Takeoff.idl b/libraries/AP_DDS/Idl/ardupilot_msgs/srv/Takeoff.idl
@@ -8,8 +8,8 @@ module ardupilot_msgs {
     struct Takeoff_Request {
       @verbatim (language="comment", text=
         "This service requests the vehicle to takeoff" "\n"
-        "alt : Set the takeoff altitude")
-      uint8 alt;
+        "float : Set the takeoff altitude [m] above home, or above terrain if rangefinder is healthy")
+      float alt;
     };
     @verbatim (language="comment", text=
       "status    : True if the request for takeoff was successful, False otherwise")

diff --git a/libraries/AP_DDS/README.md b/libraries/AP_DDS/README.md
@@ -259,8 +259,8 @@ ardupilot_msgs.srv.ModeSwitch_Response(status=True, curr_mode=4)
 Call the takeoff service:
 
 ```bash
-$ ros2 service call /ap/takeoff ardupilot_msgs/srv/takeoff "{alt: 10}"
-requester: making request: ardupilot_msgs.srv.Takeoff_Request(alt=10)
+$ ros2 service call /ap/takeoff ardupilot_msgs/srv/takeoff "{alt: 10.5}"
+requester: making request: ardupilot_msgs.srv.Takeoff_Request(alt=10.5)
 
 response:
 ardupilot_msgs.srv.Takeoff_Response(status=True)