diff options
| -rw-r--r-- | launch/gazebo_multicopter.launch | 2 | ||||
| -rw-r--r-- | launch/multicopter.launch | 6 | ||||
| -rw-r--r-- | src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp | 6 | ||||
| -rw-r--r-- | src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp | 2 |
4 files changed, 8 insertions, 8 deletions
diff --git a/launch/gazebo_multicopter.launch b/launch/gazebo_multicopter.launch index febf7bdc0..8091e3ff2 100644 --- a/launch/gazebo_multicopter.launch +++ b/launch/gazebo_multicopter.launch @@ -1,6 +1,6 @@ <launch> -<include file="$(find mav_gazebo)/launch/vtol_empty_world_with_joy.launch" /> +<include file="$(find mav_gazebo)/launch/ardrone_empty_world_with_joy.launch" /> <include file="$(find px4)/launch/multicopter.launch" /> </launch> diff --git a/launch/multicopter.launch b/launch/multicopter.launch index 9956c871d..0a4b8c26d 100644 --- a/launch/multicopter.launch +++ b/launch/multicopter.launch @@ -14,9 +14,9 @@ <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="0.0" /> - <param name="MC_YAW_P" type="double" value="1.0" /> - <param name="MC_YAWRATE_P" type="double" value="0.2" /> + <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> diff --git a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp index ce863d10e..920334363 100644 --- a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp +++ b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp @@ -47,7 +47,7 @@ AttitudeEstimator::AttitudeEstimator() : _n(), // _sub_modelstates(_n.subscribe("/gazebo/model_states", 1, &AttitudeEstimator::ModelStatesCallback, this)), - _sub_imu(_n.subscribe("/vtol/imu", 1, &AttitudeEstimator::ImuCallback, this)), + _sub_imu(_n.subscribe("/ardrone/imu", 1, &AttitudeEstimator::ImuCallback, this)), _vehicle_attitude_pub(_n.advertise<px4::vehicle_attitude>("vehicle_attitude", 1)) { } @@ -60,7 +60,7 @@ void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstP /* Convert quaternion to rotation matrix */ math::Quaternion quat; - //XXX: search for vtol or other (other than 'plane') vehicle here + //XXX: search for ardrone or other (other than 'plane') vehicle here int index = 1; quat(0) = (float)msg->pose[index].orientation.w; quat(1) = (float)msg->pose[index].orientation.x; @@ -103,7 +103,7 @@ void AttitudeEstimator::ImuCallback(const sensor_msgs::ImuConstPtr &msg) /* Convert quaternion to rotation matrix */ math::Quaternion quat; - //XXX: search for vtol or other (other than 'plane') vehicle here + //XXX: search for ardrone or other (other than 'plane') vehicle here int index = 1; quat(0) = (float)msg->orientation.w; quat(1) = (float)msg->orientation.x; diff --git a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp index e2180af41..3867d448e 100644 --- a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp +++ b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp @@ -111,7 +111,7 @@ const MultirotorMixer::Rotor *_config_index[3] = { MultirotorMixer::MultirotorMixer(): _n(), _rotor_count(4), - _rotors(_config_index[2]) //XXX + eurocconfig hardcoded + _rotors(_config_index[0]) //XXX hardcoded { _sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback, this); _pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands", 10); |