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dummy mixer: add offset param

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Thomas Gubler
2015-01-05 13:09:32 +01:00
parent ef485177ac
commit 17e544ebf3
1 changed files with 15 additions and 10 deletions
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src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
+15 -10
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@@ -115,7 +115,10 @@ MultirotorMixer::MultirotorMixer():
_sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback,this); _sub = _n.subscribe("actuator_controls_0", 1, &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")) { if (!_n.hasParam("motor_scaling_radps")) {
_n.setParam("motor_scaling_radps", 1500.0); _n.setParam("motor_scaling_radps", 150.0);
}
if (!_n.hasParam("motor_offset_radps")) {
_n.setParam("motor_offset_radps", 600.0);
} }
_sub_actuator_armed = _n.subscribe("actuator_armed", 1, &MultirotorMixer::actuatorArmedCallback,this); _sub_actuator_armed = _n.subscribe("actuator_armed", 1, &MultirotorMixer::actuatorArmedCallback,this);
} }
@@ -189,20 +192,22 @@ void MultirotorMixer::mix() {
} }
// mix // mix
if (_armed) { mix();
mix();
} else {
for (unsigned i = 0; i < _rotor_count; i++) {
outputs.control[i] = 0.0f;
}
}
// publish message // publish message
mav_msgs::MotorSpeed rotor_vel_msg; mav_msgs::MotorSpeed rotor_vel_msg;
double scaling; double scaling;
double offset;
_n.getParamCached("motor_scaling_radps", scaling); _n.getParamCached("motor_scaling_radps", scaling);
for (int i = 0; i < _rotor_count; i++) { _n.getParamCached("motor_offset_radps", offset);
rotor_vel_msg.motor_speed.push_back(outputs.control[i] * scaling); if (_armed) {
for (int i = 0; i < _rotor_count; i++) {
rotor_vel_msg.motor_speed.push_back(outputs.control[i] * scaling + offset);
}
} else {
for (int i = 0; i < _rotor_count; i++) {
rotor_vel_msg.motor_speed.push_back(0.0);
}
} }
_pub.publish(rotor_vel_msg); _pub.publish(rotor_vel_msg);
} }