mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 12:13:35 +08:00
73 lines
2.3 KiB
C++
73 lines
2.3 KiB
C++
e/****************************************************************************
|
|
*
|
|
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file att_estimator.cpp
|
|
* Dummy attitude estimator that forwards attitude from gazebo to px4 topic
|
|
*
|
|
* @author Roman Bapst <romanbapst@yahoo.de>
|
|
*/
|
|
#include "ros/ros.h"
|
|
|
|
struct {
|
|
float control[8];
|
|
}inputs;
|
|
|
|
struct {
|
|
float control[8];
|
|
}outputs;
|
|
|
|
void mix(void *input) {
|
|
|
|
|
|
}
|
|
|
|
void actuatorControlsCallback(const PX4_TOPIC_T(actuator_controls_0) &msg)
|
|
{
|
|
// read message
|
|
memcpy(inputs,msg,sizeof(inputs));
|
|
// mix
|
|
|
|
}
|
|
|
|
int main(int argc, char **argv)
|
|
{
|
|
ros::init(argc, argv, "mc_mixer");
|
|
ros::NodeHandle n;
|
|
ros::Subscriber sub = n.subscribe("actuator_controls_0", 1000, actuatorControlsCallback);
|
|
|
|
ros::spin();
|
|
|
|
return 0;
|
|
}
|