fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

make mixer to radps scaling a param and raise default

Browse Source
This commit is contained in:
Thomas Gubler 2014-12-31 09:14:59 +01:00
parent 255ba24288
commit bc5fe30270
1 changed files with 7 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
View File

@ -74,7 +74,6 @@ private:
}outputs;
void mix();
};
const MultirotorMixer::Rotor _config_x[] = {
@ -88,11 +87,15 @@ const MultirotorMixer::Rotor _config_x[] = {
};
MultirotorMixer::MultirotorMixer():
_n(),
_rotor_count(4),
_rotors(_config_index)
{
_sub = _n.subscribe("actuator_controls_0", 1000, &MultirotorMixer::actuatorControlsCallback,this);
_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands",10);
if (!_n.hasParam("motor_scaling_radps")) {
_n.setParam("motor_scaling_radps", 2000.0);
}
}
void MultirotorMixer::mix() {
@ -168,8 +171,10 @@ void MultirotorMixer::mix() {
// publish message
mav_msgs::MotorSpeed rotor_vel_msg;
double scaling;
_n.getParamCached("motor_scaling_radps", scaling);
for (int i = 0; i < _rotor_count; i++) {
rotor_vel_msg.motor_speed.push_back(outputs.control[i] * 1000);
rotor_vel_msg.motor_speed.push_back(outputs.control[i] * scaling);
}
_pub.publish(rotor_vel_msg);
}