implemented feature to set thruster to 0 when controller disabled

uri-ocean-robotics · Dec 21, 2023 · 769db8e · 769db8e
1 parent beeffb0
commit 769db8e
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/mvp_control/mvp_control_ros.cpp b/src/mvp_control/mvp_control_ros.cpp
@@ -722,6 +722,9 @@ void MvpControlROS::f_control_loop() {
          * Check if controller is enabled or not.
          */
         if(!m_enabled) {
+             for(int i = 0 ; i < m_thrusters.size() ; i++) {
+                m_thrusters.at(i)->command(0);
+            }
             continue;
         }