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ros mixer: add iris

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This commit is contained in:
Thomas Gubler 2015-01-15 12:37:24 +01:00
parent 1f26e1f5eb
commit e60c1a842c
2 changed files with 16 additions and 2 deletions
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1
launch/iris.launch
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@ -14,6 +14,7 @@
<param name="MC_YAWRATE_P" type="double" value="0.5" />
<param name="MC_MAN_R_MAX" type="double" value="10.0" />
<param name="MC_MAN_P_MAX" type="double" value="10.0" />
<param name="mixer" type="string" value="i" />
</group>
</launch>

17
src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
View File

@ -108,12 +108,19 @@ const MultirotorMixer::Rotor _config_quad_wide[] = {
{ 0.927184, 0.374607, -1.000000 },
{ -0.777146, -0.629320, -1.000000 },
};
const MultirotorMixer::Rotor _config_quad_iris[] = {
{ -0.876559, 0.481295, 1.000000 },
{ 0.826590, -0.562805, 1.000000 },
{ 0.876559, 0.481295, -1.000000 },
{ -0.826590, -0.562805, -1.000000 },
};
const MultirotorMixer::Rotor *_config_index[4] = {
const MultirotorMixer::Rotor *_config_index[5] = {
&_config_x[0],
&_config_quad_plus[0],
&_config_quad_plus_euroc[0],
&_config_quad_wide[0]
&_config_quad_wide[0],
&_config_quad_iris[0]
};
MultirotorMixer::MultirotorMixer():
@ -216,13 +223,19 @@ void MultirotorMixer::actuatorControlsCallback(const PX4_TOPIC_T(actuator_contro
_n.getParamCached("mixer", mixer_name);
if (mixer_name == "x") {
_rotors = _config_index[0];
ROS_WARN("using x");
} 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];
ROS_WARN("using w");
} else if (mixer_name == "i") {
_rotors = _config_index[4];
ROS_WARN("using i");
}
ROS_WARN("mixer_name %s", mixer_name.c_str());
// mix
mix();