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manual input dummy node: extend to support switching between modes

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also fixing thrust input
This commit is contained in:
Thomas Gubler
2015-01-29 13:37:37 +01:00
parent 5b5a4b7386
commit 3c79b2a586
2 changed files with 82 additions and 21 deletions
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src/platforms/ros/nodes/manual_input/manual_input.cpp
+61 -19
View File
@@ -40,13 +40,14 @@
#include "manual_input.h"
#include <px4/manual_control_setpoint.h>
#include <platforms/px4_middleware.h>
ManualInput::ManualInput() :
_n(),
_joy_sub(_n.subscribe("joy", 1, &ManualInput::JoyCallback, this)),
_man_ctrl_sp_pub(_n.advertise<px4::manual_control_setpoint>("manual_control_setpoint", 1))
_man_ctrl_sp_pub(_n.advertise<px4::manual_control_setpoint>("manual_control_setpoint", 1)),
_buttons_state(),
_msg_mc_sp()
{
double dz_default = 0.2;
/* Load parameters, default values work for Microsoft XBox Controller */
@@ -63,40 +64,46 @@ ManualInput::ManualInput() :
_n.param("map_z", _param_axes_map[2], 2);
_n.param("scale_z", _param_axes_scale[2], -0.5);
_n.param("off_z", _param_axes_offset[2], -1.0);
_n.param("dz_z", _param_axes_dz[2], dz_default);
_n.param("dz_z", _param_axes_dz[2], 0.0);
_n.param("map_r", _param_axes_map[3], 0);
_n.param("scale_r", _param_axes_scale[3], -1.0);
_n.param("off_r", _param_axes_offset[3], 0.0);
_n.param("dz_r", _param_axes_dz[3], dz_default);
_n.param("map_manual", _param_buttons_map[0], 0);
_n.param("map_altctl", _param_buttons_map[1], 1);
_n.param("map_posctl", _param_buttons_map[2], 2);
_n.param("map_auto_mission", _param_buttons_map[3], 3);
_n.param("map_auto_loiter", _param_buttons_map[4], 4);
_n.param("map_auto_rtl", _param_buttons_map[5], 4);
/* Default to manual */
_msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
_msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
_msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
_msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
_msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
}
void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr &msg)
{
px4::manual_control_setpoint msg_out;
/* Fill px4 manual control setpoint topic with contents from ros joystick */
/* Map sticks to x, y, z, r */
MapAxis(msg, _param_axes_map[0], _param_axes_scale[0], _param_axes_offset[0], _param_axes_dz[0], msg_out.x);
MapAxis(msg, _param_axes_map[1], _param_axes_scale[1], _param_axes_offset[1], _param_axes_dz[1], msg_out.y);
MapAxis(msg, _param_axes_map[2], _param_axes_scale[2], _param_axes_offset[2], _param_axes_dz[2], msg_out.z);
MapAxis(msg, _param_axes_map[3], _param_axes_scale[3], _param_axes_offset[3], _param_axes_dz[3], msg_out.r);
//ROS_INFO("x: %1.4f y: %1.4f z: %1.4f r: %1.4f", msg_out.x, msg_out.y, msg_out.z, msg_out.r);
MapAxis(msg, _param_axes_map[0], _param_axes_scale[0], _param_axes_offset[0], _param_axes_dz[0], _msg_mc_sp.x);
MapAxis(msg, _param_axes_map[1], _param_axes_scale[1], _param_axes_offset[1], _param_axes_dz[1], _msg_mc_sp.y);
MapAxis(msg, _param_axes_map[2], _param_axes_scale[2], _param_axes_offset[2], _param_axes_dz[2], _msg_mc_sp.z);
MapAxis(msg, _param_axes_map[3], _param_axes_scale[3], _param_axes_offset[3], _param_axes_dz[3], _msg_mc_sp.r);
//ROS_INFO("x: %1.4f y: %1.4f z: %1.4f r: %1.4f", msg_mc_sp.x, msg_out.y, msg_out.z, msg_out.r);
/* Map buttons to switches */
//XXX todo
/* for now just publish switches in position for manual flight */
msg_out.mode_switch = 0;
msg_out.return_switch = 0;
msg_out.posctl_switch = 0;
msg_out.loiter_switch = 0;
msg_out.acro_switch = 0;
msg_out.offboard_switch = 0;
MapButtons(msg, _msg_mc_sp);
msg_out.timestamp = px4::get_time_micros();
_msg_mc_sp.timestamp = px4::get_time_micros();
_man_ctrl_sp_pub.publish(msg_out);
_man_ctrl_sp_pub.publish(_msg_mc_sp);
}
void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr &msg, int map_index, double scale, double offset,
@@ -106,6 +113,41 @@ void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr &msg, int map_index, do
if (val + offset > deadzone || val + offset < -deadzone) {
out = (float)((val + offset)) * scale;
} else {
out = 0.0f;
}
}
void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_control_setpoint &msg_mc_sp) {
msg_mc_sp.acro_switch = px4::manual_control_setpoint::SWITCH_POS_NONE;
msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_NONE;
if (_buttons_state[MAIN_STATE_MANUAL] != msg->buttons[_param_buttons_map[MAIN_STATE_MANUAL]] == true) {
msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
return;
} else if (_buttons_state[MAIN_STATE_ALTCTL] != msg->buttons[_param_buttons_map[MAIN_STATE_ALTCTL]] == true) {
msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_MIDDLE;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
return;
} else if (_buttons_state[MAIN_STATE_POSCTL] != msg->buttons[_param_buttons_map[MAIN_STATE_POSCTL]] == true) {
msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_MIDDLE;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_ON;
msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
return;
} else {
ROS_WARN("requested mode via joystick that is not implemented");
}
}
src/platforms/ros/nodes/manual_input/manual_input.h
+21 -2
View File
@@ -39,6 +39,7 @@
*/
#include "ros/ros.h"
#include <px4/manual_control_setpoint.h>
#include <sensor_msgs/Joy.h>
class ManualInput
@@ -55,20 +56,38 @@ protected:
void JoyCallback(const sensor_msgs::JoyConstPtr &msg);
/**
* Helper function to map and scale joystick input
* Helper function to map and scale joystick axis
*/
void MapAxis(const sensor_msgs::JoyConstPtr &msg, int map_index, double scale, double offset, double deadzone,
float &out);
/**
* Helper function to map joystick buttons
*/
void MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_control_setpoint &msg_mc_sp);
ros::NodeHandle _n;
ros::Subscriber _joy_sub;
ros::Publisher _man_ctrl_sp_pub;
/* Parameters */
enum MAIN_STATE {
MAIN_STATE_MANUAL = 0,
MAIN_STATE_ALTCTL,
MAIN_STATE_POSCTL,
MAIN_STATE_AUTO_MISSION,
MAIN_STATE_AUTO_LOITER,
MAIN_STATE_AUTO_RTL,
MAIN_STATE_MAX
};
int _param_buttons_map[MAIN_STATE_MAX]; /**< joystick button mapping, order according to MAIN_STATE */
bool _buttons_state[MAIN_STATE_MAX]; /**< joystick button state of last iteration,
order according to MAIN_STATE */
int _param_axes_map[4];
double _param_axes_scale[4];
double _param_axes_offset[4];
double _param_axes_dz[4];
px4::manual_control_setpoint _msg_mc_sp;
};