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ros: make mixer name a param

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This commit is contained in:
Thomas Gubler
2015-01-14 11:27:32 +01:00
parent f6c0d2310d
commit 6b0d0aa2a5
8 changed files with 42 additions and 5 deletions
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2
launch/gazebo_ardrone_empty_world.launch
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@@ -1,6 +1,6 @@
<launch>
<include file="$(find mav_gazebo)/launch/ardrone_empty_world_with_joy.launch" />
<include file="$(find px4)/launch/multicopter.launch" />
<include file="$(find px4)/launch/multicopter_x.launch" />
</launch>

2
launch/gazebo_ardrone_house_world.launch
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@@ -1,6 +1,6 @@
<launch>
<include file="$(find mav_gazebo)/launch/ardrone_house_world_with_joy.launch" />
<include file="$(find px4)/launch/multicopter.launch" />
<include file="$(find px4)/launch/multicopter_x.launch" />
</launch>

2
launch/gazebo_iris_empty_world.launch
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@@ -1,6 +1,6 @@
<launch>
<include file="$(find mav_gazebo)/launch/iris_empty_world_with_joy.launch" />
<include file="$(find px4)/launch/multicopter.launch" />
<include file="$(find px4)/launch/multicopter_w.launch" />
</launch>

2
launch/gazebo_iris_outdoor_world.launch
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@@ -1,6 +1,6 @@
<launch>
<include file="$(find mav_gazebo)/launch/iris_outdoor_world_with_joy.launch" />
<include file="$(find px4)/launch/multicopter.launch" />
<include file="$(find px4)/launch/multicopter_x.launch" />
</launch>

1
launch/multicopter.launch
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@@ -19,6 +19,7 @@
<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="x" />
</group>
</launch>

9
launch/multicopter_w.launch Normal file
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@@ -0,0 +1,9 @@
<launch>
<include file="$(find px4)/launch/multicopter.launch" />
<group ns="px4_multicopter">
<param name="mixer" type="string" value="w" />
</group>
</launch>

9
launch/multicopter_x.launch Normal file
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@@ -0,0 +1,9 @@
<launch>
<include file="$(find px4)/launch/multicopter.launch" />
<group ns="px4_multicopter">
<param name="mixer" type="string" value="x" />
</group>
</launch>

20
src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
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@@ -41,6 +41,7 @@
#include <px4.h>
#include <lib/mathlib/mathlib.h>
#include <mav_msgs/MotorSpeed.h>
#include <string>
class MultirotorMixer
{
@@ -118,7 +119,7 @@ const MultirotorMixer::Rotor *_config_index[4] = {
MultirotorMixer::MultirotorMixer():
_n(),
_rotor_count(4),
_rotors(_config_index[3]) //XXX hardcoded
_rotors(_config_index[0])
{
_sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback, this);
_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands", 10);
@@ -131,6 +132,10 @@ MultirotorMixer::MultirotorMixer():
_n.setParam("motor_offset_radps", 600.0);
}
if (!_n.hasParam("mixer")) {
_n.setParam("mixer", "x");
}
_sub_actuator_armed = _n.subscribe("actuator_armed", 1, &MultirotorMixer::actuatorArmedCallback, this);
}
@@ -206,6 +211,19 @@ void MultirotorMixer::actuatorControlsCallback(const PX4_TOPIC_T(actuator_contro
inputs.control[i] = msg.control[i];
}
// switch mixer if necessary
std::string mixer_name;
_n.getParamCached("mixer", mixer_name);
if (mixer_name == "x") {
_rotors = _config_index[0];
} 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];
}
// mix
mix();