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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-14 11:34:55 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-14 11:34:55 +0100 |
| commit | 68914df4d0638c974e94657b35a8c12f71738d01 (patch) | |
| tree | 247dae40da0dbadec8331cfb24f4d88e4dbf7cdb /launch | |
| parent | 3da1b701ed941effd92e7699e8e435a810300b49 (diff) | |
| download | px4-firmware-68914df4d0638c974e94657b35a8c12f71738d01.tar.gz px4-firmware-68914df4d0638c974e94657b35a8c12f71738d01.tar.bz2 px4-firmware-68914df4d0638c974e94657b35a8c12f71738d01.zip | |
ros: move params to type/frame launch files
Diffstat (limited to 'launch')
| -rw-r--r-- | launch/ardrone.launch | 14 | ||||
| -rw-r--r-- | launch/iris.launch | 14 | ||||
| -rw-r--r-- | launch/multicopter.launch | 13 |
3 files changed, 28 insertions, 13 deletions
diff --git a/launch/ardrone.launch b/launch/ardrone.launch index aa89bdd4e..495388be5 100644 --- a/launch/ardrone.launch +++ b/launch/ardrone.launch @@ -2,4 +2,18 @@ <include file="$(find px4)/launch/multicopter_x.launch" /> +<group ns="px4_multicopter"> + <param name="MC_ROLL_P" type="double" value="6.0" /> + <param name="MC_PITCH_P" type="double" value="6.0" /> + <param name="MC_ROLLRATE_P" type="double" value="0.05" /> + <param name="MC_ROLLRATE_D" type="double" value="0.0" /> + <param name="MC_PITCHRATE_P" type="double" value="0.05" /> + <param name="MC_PITCHRATE_D" type="double" value="0.0" /> + <param name="MC_YAW_FF" type="double" value="0" /> + <param name="MC_YAW_P" type="double" value="5.0" /> + <param name="MC_YAWRATE_P" type="double" value="0.5" /> + <param name="MC_MAN_R_MAX" type="double" value="10.0" /> + <param name="MC_MAN_P_MAX" type="double" value="10.0" /> +</group> + </launch> diff --git a/launch/iris.launch b/launch/iris.launch index d9d08fae0..81a137173 100644 --- a/launch/iris.launch +++ b/launch/iris.launch @@ -2,4 +2,18 @@ <include file="$(find px4)/launch/multicopter_w.launch" /> +<group ns="px4_multicopter"> + <param name="MC_ROLL_P" type="double" value="6.0" /> + <param name="MC_PITCH_P" type="double" value="6.0" /> + <param name="MC_ROLLRATE_P" type="double" value="0.05" /> + <param name="MC_ROLLRATE_D" type="double" value="0.0" /> + <param name="MC_PITCHRATE_P" type="double" value="0.05" /> + <param name="MC_PITCHRATE_D" type="double" value="0.0" /> + <param name="MC_YAW_FF" type="double" value="0" /> + <param name="MC_YAW_P" type="double" value="3.0" /> + <param name="MC_YAWRATE_P" type="double" value="0.5" /> + <param name="MC_MAN_R_MAX" type="double" value="10.0" /> + <param name="MC_MAN_P_MAX" type="double" value="10.0" /> +</group> + </launch> diff --git a/launch/multicopter.launch b/launch/multicopter.launch index 79c3c36d9..96ff3ad99 100644 --- a/launch/multicopter.launch +++ b/launch/multicopter.launch @@ -7,19 +7,6 @@ <node pkg="px4" name="mc_mixer" type="mc_mixer"/> <node pkg="px4" name="attitude_estimator" type="attitude_estimator"/> <node pkg="px4" name="mc_att_control" type="mc_att_control"/> - - <param name="MC_ROLL_P" type="double" value="6.0" /> - <param name="MC_PITCH_P" type="double" value="6.0" /> - <param name="MC_ROLLRATE_P" type="double" value="0.05" /> - <param name="MC_ROLLRATE_D" type="double" value="0.0" /> - <param name="MC_PITCHRATE_P" type="double" value="0.05" /> - <param name="MC_PITCHRATE_D" type="double" value="0.0" /> - <param name="MC_YAW_FF" type="double" value="0" /> - <param name="MC_YAW_P" type="double" value="5.0" /> - <param name="MC_YAWRATE_P" type="double" value="0.5" /> - <param name="MC_MAN_R_MAX" type="double" value="10.0" /> - <param name="MC_MAN_P_MAX" type="double" value="10.0" /> - <param name="mixer" type="string" value="x" /> </group> </launch> |