diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-29 14:23:03 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-29 14:34:10 +0100 |
| commit | a0ae5aeebb9eea7e90cf365d931c9a29790ebba1 (patch) | |
| tree | ed5097aa8536b94d13282a8e44898d12fbe1115c | |
| parent | 6dead1d576b91811ba4bcd988ed4f4151eacafcc (diff) | |
| download | px4-firmware-a0ae5aeebb9eea7e90cf365d931c9a29790ebba1.tar.gz px4-firmware-a0ae5aeebb9eea7e90cf365d931c9a29790ebba1.tar.bz2 px4-firmware-a0ae5aeebb9eea7e90cf365d931c9a29790ebba1.zip | |
commander dummy node: small fix for vehicle_control_mode
| -rw-r--r-- | src/platforms/ros/nodes/commander/commander.cpp | 12 | ||||
| -rw-r--r-- | src/platforms/ros/nodes/commander/commander.h | 1 |
2 files changed, 8 insertions, 5 deletions
diff --git a/src/platforms/ros/nodes/commander/commander.cpp b/src/platforms/ros/nodes/commander/commander.cpp index 3829cbc32..2673122c7 100644 --- a/src/platforms/ros/nodes/commander/commander.cpp +++ b/src/platforms/ros/nodes/commander/commander.cpp @@ -50,18 +50,18 @@ Commander::Commander() : _vehicle_status_pub(_n.advertise<px4::vehicle_status>("vehicle_status", 10)), _parameter_update_pub(_n.advertise<px4::parameter_update>("parameter_update", 10)), _msg_parameter_update(), - _msg_actuator_armed() + _msg_actuator_armed(), + _msg_vehicle_control_mode() { } void Commander::ManualControlInputCallback(const px4::manual_control_setpointConstPtr &msg) { - px4::vehicle_control_mode msg_vehicle_control_mode; px4::vehicle_status msg_vehicle_status; /* fill vehicle control mode based on (faked) stick positions*/ - EvalSwitches(msg, msg_vehicle_status, msg_vehicle_control_mode); - msg_vehicle_control_mode.timestamp = px4::get_time_micros(); + EvalSwitches(msg, msg_vehicle_status, _msg_vehicle_control_mode); + _msg_vehicle_control_mode.timestamp = px4::get_time_micros(); /* fill actuator armed */ float arm_th = 0.95; @@ -71,6 +71,7 @@ void Commander::ManualControlInputCallback(const px4::manual_control_setpointCon /* Check for disarm */ if (msg->r < -arm_th && msg->z < (1 - arm_th)) { _msg_actuator_armed.armed = false; + _msg_vehicle_control_mode.flag_armed = false; msg_vehicle_status.arming_state = msg_vehicle_status.ARMING_STATE_STANDBY; } @@ -78,6 +79,7 @@ void Commander::ManualControlInputCallback(const px4::manual_control_setpointCon /* Check for arm */ if (msg->r > arm_th && msg->z < (1 - arm_th)) { _msg_actuator_armed.armed = true; + _msg_vehicle_control_mode.flag_armed = true; msg_vehicle_status.arming_state = msg_vehicle_status.ARMING_STATE_ARMED; } } @@ -88,7 +90,7 @@ void Commander::ManualControlInputCallback(const px4::manual_control_setpointCon msg_vehicle_status.hil_state = msg_vehicle_status.VEHICLE_TYPE_QUADROTOR; msg_vehicle_status.is_rotary_wing = true; - _vehicle_control_mode_pub.publish(msg_vehicle_control_mode); + _vehicle_control_mode_pub.publish(_msg_vehicle_control_mode); _actuator_armed_pub.publish(_msg_actuator_armed); _vehicle_status_pub.publish(msg_vehicle_status); diff --git a/src/platforms/ros/nodes/commander/commander.h b/src/platforms/ros/nodes/commander/commander.h index f251f7c1a..58b7257b7 100644 --- a/src/platforms/ros/nodes/commander/commander.h +++ b/src/platforms/ros/nodes/commander/commander.h @@ -74,5 +74,6 @@ protected: px4::parameter_update _msg_parameter_update; px4::actuator_armed _msg_actuator_armed; + px4::vehicle_control_mode _msg_vehicle_control_mode; }; |