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fix dummy mixer

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Thomas Gubler
2014-12-31 14:43:55 +01:00
parent f8214f3e01
commit 3684ac6bf1
1 changed files with 17 additions and 8 deletions
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src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
+17 -8
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@@ -77,24 +77,33 @@ private:
}; };
const MultirotorMixer::Rotor _config_x[] = { const MultirotorMixer::Rotor _config_x[] = {
{ 0.000000, -1.000000, -1.00 }, { -0.707107, 0.707107, 1.00 },
{ -0.000000, 1.000000, -1.00 }, { 0.707107, -0.707107, 1.00 },
{ 1.000000, 0.000000, 1.00 }, { 0.707107, 0.707107, -1.00 },
{ -1.000000, 0.000000, 1.00 }, { -0.707107, -0.707107, -1.00 },
}; };
const MultirotorMixer::Rotor *_config_index = { &_config_x[0] const MultirotorMixer::Rotor _config_quad_plus[] = {
}; { -1.000000, 0.000000, 1.00 },
{ 1.000000, 0.000000, 1.00 },
{ 0.000000, 1.000000, -1.00 },
{ -0.000000, -1.000000, -1.00 },
};
const MultirotorMixer::Rotor *_config_index[3] = {
&_config_x[0],
&_config_quad_plus[0],
};
MultirotorMixer::MultirotorMixer(): MultirotorMixer::MultirotorMixer():
_n(), _n(),
_rotor_count(4), _rotor_count(4),
_rotors(_config_index) _rotors(_config_index[1]) //XXX +config hardcoded
{ {
_sub = _n.subscribe("actuator_controls_0", 1000, &MultirotorMixer::actuatorControlsCallback,this); _sub = _n.subscribe("actuator_controls_0", 1000, &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", 2000.0); _n.setParam("motor_scaling_radps", 1500.0);
} }
} }