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ros:manual input dummy node: add offboard button

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This commit is contained in:
Thomas Gubler
2015-02-14 16:47:24 +01:00
parent 3475d8883b
commit 4869f9f3d4
2 changed files with 15 additions and 2 deletions
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src/platforms/ros/nodes/manual_input/manual_input.cpp
+13 -2
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@@ -76,7 +76,8 @@ ManualInput::ManualInput() :
_n.param("map_posctl", _param_buttons_map[2], 2); _n.param("map_posctl", _param_buttons_map[2], 2);
_n.param("map_auto_mission", _param_buttons_map[3], 3); _n.param("map_auto_mission", _param_buttons_map[3], 3);
_n.param("map_auto_loiter", _param_buttons_map[4], 4); _n.param("map_auto_loiter", _param_buttons_map[4], 4);
_n.param("map_auto_rtl", _param_buttons_map[5], 4); _n.param("map_auto_rtl", _param_buttons_map[5], 5);
_n.param("map_offboard", _param_buttons_map[6], 6);
/* Default to manual */ /* Default to manual */
_msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; _msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
@@ -120,7 +121,6 @@ void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr &msg, int map_index, do
void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_control_setpoint &msg_mc_sp) { void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_control_setpoint &msg_mc_sp) {
msg_mc_sp.acro_switch = px4::manual_control_setpoint::SWITCH_POS_NONE; msg_mc_sp.acro_switch = px4::manual_control_setpoint::SWITCH_POS_NONE;
msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_NONE;
if (_buttons_state[MAIN_STATE_MANUAL] != msg->buttons[_param_buttons_map[MAIN_STATE_MANUAL]] == true) { if (_buttons_state[MAIN_STATE_MANUAL] != msg->buttons[_param_buttons_map[MAIN_STATE_MANUAL]] == true) {
msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
@@ -128,6 +128,7 @@ void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_co
msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
return; return;
} else if (_buttons_state[MAIN_STATE_ALTCTL] != msg->buttons[_param_buttons_map[MAIN_STATE_ALTCTL]] == true) { } else if (_buttons_state[MAIN_STATE_ALTCTL] != msg->buttons[_param_buttons_map[MAIN_STATE_ALTCTL]] == true) {
@@ -136,6 +137,7 @@ void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_co
msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
return; return;
} else if (_buttons_state[MAIN_STATE_POSCTL] != msg->buttons[_param_buttons_map[MAIN_STATE_POSCTL]] == true) { } else if (_buttons_state[MAIN_STATE_POSCTL] != msg->buttons[_param_buttons_map[MAIN_STATE_POSCTL]] == true) {
@@ -144,6 +146,15 @@ void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_co
msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_ON; msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_ON;
msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
return;
} else if (_buttons_state[MAIN_STATE_OFFBOARD] != msg->buttons[_param_buttons_map[MAIN_STATE_OFFBOARD]] == true) {
msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_MIDDLE;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_ON;
msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF;
msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_ON;
return; return;
} }
src/platforms/ros/nodes/manual_input/manual_input.h
+2
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@@ -77,6 +77,8 @@ protected:
MAIN_STATE_AUTO_MISSION, MAIN_STATE_AUTO_MISSION,
MAIN_STATE_AUTO_LOITER, MAIN_STATE_AUTO_LOITER,
MAIN_STATE_AUTO_RTL, MAIN_STATE_AUTO_RTL,
// MAIN_STATE_ACRO,
MAIN_STATE_OFFBOARD,
MAIN_STATE_MAX MAIN_STATE_MAX
}; };