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make mixer to radps scaling a param and raise default

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Thomas Gubler
2014-12-31 09:14:59 +01:00
parent 255ba24288
commit bc5fe30270
1 changed files with 7 additions and 2 deletions
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src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
+7 -2
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@@ -74,7 +74,6 @@ private:
}outputs; }outputs;
void mix(); void mix();
}; };
const MultirotorMixer::Rotor _config_x[] = { const MultirotorMixer::Rotor _config_x[] = {
@@ -88,11 +87,15 @@ const MultirotorMixer::Rotor _config_x[] = {
}; };
MultirotorMixer::MultirotorMixer(): MultirotorMixer::MultirotorMixer():
_n(),
_rotor_count(4), _rotor_count(4),
_rotors(_config_index) _rotors(_config_index)
{ {
_sub = _n.subscribe("actuator_controls_0", 1000, &MultirotorMixer::actuatorControlsCallback,this); _sub = _n.subscribe("actuator_controls_0", 1000, &MultirotorMixer::actuatorControlsCallback,this);
_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands",10); _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() { void MultirotorMixer::mix() {
@@ -168,8 +171,10 @@ void MultirotorMixer::mix() {
// publish message // publish message
mav_msgs::MotorSpeed rotor_vel_msg; mav_msgs::MotorSpeed rotor_vel_msg;
double scaling;
_n.getParamCached("motor_scaling_radps", scaling);
for (int i = 0; i < _rotor_count; i++) { 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); _pub.publish(rotor_vel_msg);
} }