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CWRUbotix · Jun 21, 2024 · dabe736 · dabe736
1 parent 58a00f8
commit dabe736
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/surface/flight_control/flight_control/manual_control_node.py b/src/surface/flight_control/flight_control/manual_control_node.py
@@ -46,7 +46,7 @@
 
 CONTROLLER_MODE_PARAM = "controller_mode"
 
-NEXT_INSTR_FRAC = 0.1
+NEXT_INSTR_FRAC = 0.05
 PREV_INSTR_FRAC = 1 - NEXT_INSTR_FRAC
 
 
@@ -152,6 +152,8 @@ def joystick_to_pixhawk(self, msg: Joy) -> None:
             author=PixhawkInstruction.MANUAL_CONTROL
         )
 
+        self.previous_pixhawk_instruction = smoothed_instruction
+
         self.rc_pub.publish(smoothed_instruction)
 
     @staticmethod