AP_DDS: Add todo for handling control failures to rosout

Signed-off-by: Ryan Friedman <[email protected]>
tridge · Aug 10, 2023 · 911c236 · 911c236
1 parent 35b31f4
commit 911c236
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -477,7 +477,9 @@ void AP_DDS_Client::on_topic (uxrSession* uxr_session, uxrObjectId object_id, ui
             float(rx_velocity_control_topic.twist.linear.x),
             float(-rx_velocity_control_topic.twist.linear.z) };
         const float yaw_rate = -rx_velocity_control_topic.twist.angular.z;
-        external_control->set_linear_velocity_and_yaw_rate(linear_velocity, yaw_rate);
+        if (!external_control->set_linear_velocity_and_yaw_rate(linear_velocity, yaw_rate)) {
+            // TODO #23430 handle velocity control failure through rosout, throttled.
+        }
 #endif // AP_EXTERNAL_CONTROL_ENABLED
         break;
     }