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ros mixer node: add w mixer

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This commit is contained in:
Thomas Gubler
2015-01-14 07:41:14 +01:00
parent dd2d53d7e3
commit f6c0d2310d
1 changed files with 10 additions and 3 deletions
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src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
+10 -3
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@@ -101,17 +101,24 @@ const MultirotorMixer::Rotor _config_quad_plus_euroc[] = {
{ 1.000000, 0.000000, -1.00 },
{ -1.000000, 0.000000, -1.00 },
};
const MultirotorMixer::Rotor _config_quad_wide[] = {
{ -0.927184, 0.374607, 1.000000 },
{ 0.777146, -0.629320, 1.000000 },
{ 0.927184, 0.374607, -1.000000 },
{ -0.777146, -0.629320, -1.000000 },
};
const MultirotorMixer::Rotor *_config_index[3] = {
const MultirotorMixer::Rotor *_config_index[4] = {
&_config_x[0],
&_config_quad_plus[0],
&_config_quad_plus_euroc[0]
&_config_quad_plus_euroc[0],
&_config_quad_wide[0]
};
MultirotorMixer::MultirotorMixer():
_n(),
_rotor_count(4),
_rotors(_config_index[0]) //XXX hardcoded
_rotors(_config_index[3]) //XXX hardcoded
{
_sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback, this);
_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands", 10);