fly316/PX4-Autopilot
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manual input: deadzones

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This commit is contained in:
Thomas Gubler 2015-01-02 16:11:47 +01:00
parent 530c38b6fa
commit 48b781ca3d
2 changed files with 20 additions and 8 deletions
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24
src/platforms/ros/nodes/manual_input/manual_input.cpp
View File

@ -48,22 +48,28 @@ ManualInput::ManualInput() :
_joy_sub(_n.subscribe("joy", 1, &ManualInput::JoyCallback, this)),
_man_ctrl_sp_pub(_n.advertise<px4::manual_control_setpoint>("manual_control_setpoint", 1))
{
double dz_default = 0.2;
/* Load parameters, default values work for Microsoft XBox Controller */
_n.param("map_x", _param_axes_map[0], 4);
_n.param("scale_x", _param_axes_scale[0], 1.0);
_n.param("off_x", _param_axes_offset[0], 0.0);
_n.param("dz_x", _param_axes_dz[0], dz_default);
_n.param("map_y", _param_axes_map[1], 3);
_n.param("scale_y", _param_axes_scale[1], -1.0);
_n.param("off_y", _param_axes_offset[1], 0.0);
_n.param("dz_y", _param_axes_dz[1], dz_default);
_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], 0.5);
_n.param("off_z", _param_axes_offset[2], -1.0);
_n.param("dz_z", _param_axes_dz[2], dz_default);
_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);
}
void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
@ -72,10 +78,10 @@ void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
/* 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], msg_out.x);
MapAxis(msg, _param_axes_map[1], _param_axes_scale[1], _param_axes_offset[1], msg_out.y);
MapAxis(msg, _param_axes_map[2], _param_axes_scale[2], _param_axes_offset[2], msg_out.z);
MapAxis(msg, _param_axes_map[3], _param_axes_scale[3], _param_axes_offset[3], msg_out.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);
/* Map buttons to switches */
@ -93,9 +99,13 @@ void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
_man_ctrl_sp_pub.publish(msg_out);
}
void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr& msg, int map_index, double scale, double offset, float &out)
void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr& msg, int map_index, double scale, double offset,
double deadzone, float &out)
{
out = (float)(msg->axes[map_index] * scale + offset);
double val = msg->axes[map_index];
if (val + offset > deadzone || val + offset < -deadzone) {
out = (float)((val + offset)) * scale;
}
}
int main(int argc, char **argv)

4
src/platforms/ros/nodes/manual_input/manual_input.h
View File

@ -56,7 +56,8 @@ protected:
/**
* Helper function to map and scale joystick input
*/
void MapAxis(const sensor_msgs::JoyConstPtr& msg, int map_index, double scale, double offset, float &out);
void MapAxis(const sensor_msgs::JoyConstPtr& msg, int map_index, double scale, double offset, double deadzone,
float &out);
ros::NodeHandle _n;
ros::Subscriber _joy_sub;
@ -66,6 +67,7 @@ protected:
int _param_axes_map[4];
double _param_axes_scale[4];
double _param_axes_offset[4];
double _param_axes_dz[4];
};