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manual input fix variable names

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This commit is contained in:
Thomas Gubler 2014-12-31 09:19:57 +01:00
parent bc5fe30270
commit f8214f3e01
2 changed files with 21 additions and 21 deletions
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34
src/platforms/ros/nodes/manual_input/manual_input.cpp
View File

@ -45,25 +45,25 @@
ManualInput::ManualInput() :
_n(),
joy_sub(_n.subscribe("joy", 10, &ManualInput::JoyCallback, this)),
_joy_sub(_n.subscribe("joy", 10, &ManualInput::JoyCallback, this)),
_man_ctrl_sp_pub(_n.advertise<px4::manual_control_setpoint>("manual_control_setpoint", 10))
{
/* 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("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("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("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("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("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("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("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);
}
void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
@ -72,10 +72,10 @@ 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], 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);
//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 */

8
src/platforms/ros/nodes/manual_input/manual_input.h
View File

@ -59,13 +59,13 @@ protected:
void MapAxis(const sensor_msgs::JoyConstPtr& msg, int map_index, double scale, double offset, float &out);
ros::NodeHandle _n;
ros::Subscriber joy_sub;
ros::Subscriber _joy_sub;
ros::Publisher _man_ctrl_sp_pub;
/* Parameters */
int param_axes_map[4];
double param_axes_scale[4];
double param_axes_offset[4];
int _param_axes_map[4];
double _param_axes_scale[4];
double _param_axes_offset[4];
};