fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 03:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ros: make mixer name a param

Browse Source
This commit is contained in:
Thomas Gubler
2015-01-14 11:27:32 +01:00
parent f6c0d2310d
commit 6b0d0aa2a5
8 changed files with 42 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
+19 -1
View File
@@ -41,6 +41,7 @@
#include <px4.h>
#include <lib/mathlib/mathlib.h>
#include <mav_msgs/MotorSpeed.h>
#include <string>
class MultirotorMixer
{
@@ -118,7 +119,7 @@ const MultirotorMixer::Rotor *_config_index[4] = {
MultirotorMixer::MultirotorMixer():
_n(),
_rotor_count(4),
_rotors(_config_index[3]) //XXX hardcoded
_rotors(_config_index[0])
{
_sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback, this);
_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands", 10);
@@ -131,6 +132,10 @@ MultirotorMixer::MultirotorMixer():
_n.setParam("motor_offset_radps", 600.0);
}
if (!_n.hasParam("mixer")) {
_n.setParam("mixer", "x");
}
_sub_actuator_armed = _n.subscribe("actuator_armed", 1, &MultirotorMixer::actuatorArmedCallback, this);
}
@@ -206,6 +211,19 @@ void MultirotorMixer::actuatorControlsCallback(const PX4_TOPIC_T(actuator_contro
inputs.control[i] = msg.control[i];
}
// switch mixer if necessary
std::string mixer_name;
_n.getParamCached("mixer", mixer_name);
if (mixer_name == "x") {
_rotors = _config_index[0];
} else if (mixer_name == "+") {
_rotors = _config_index[1];
} else if (mixer_name == "e") {
_rotors = _config_index[2];
} else if (mixer_name == "w") {
_rotors = _config_index[3];
}
// mix
mix();