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author | Roman Bapst <romanbapst@yahoo.de> | 2014-12-30 10:21:21 +0100 |
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committer | Roman Bapst <romanbapst@yahoo.de> | 2014-12-30 10:21:21 +0100 |
commit | 67c49303150b61403ad49018f617d870b703221e (patch) | |
tree | f98ca9178bc7ab5ada25e67785bacc6e3ac12248 | |
parent | 3e941a2d1f4919f05beee0672211efb35bfb816d (diff) | |
download | px4-firmware-67c49303150b61403ad49018f617d870b703221e.tar.gz px4-firmware-67c49303150b61403ad49018f617d870b703221e.tar.bz2 px4-firmware-67c49303150b61403ad49018f617d870b703221e.zip |
added mixer node
-rw-r--r-- | src/platforms/ros/nodes/mc_mixer.cpp | 72 |
1 files changed, 72 insertions, 0 deletions
diff --git a/src/platforms/ros/nodes/mc_mixer.cpp b/src/platforms/ros/nodes/mc_mixer.cpp new file mode 100644 index 000000000..ddafde3b9 --- /dev/null +++ b/src/platforms/ros/nodes/mc_mixer.cpp @@ -0,0 +1,72 @@ +e/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file att_estimator.cpp + * Dummy attitude estimator that forwards attitude from gazebo to px4 topic + * + * @author Roman Bapst <romanbapst@yahoo.de> +*/ + #include "ros/ros.h" + + struct { + float control[8]; + }inputs; + + struct { + float control[8]; + }outputs; + +void mix(void *input) { + + +} + + void actuatorControlsCallback(const PX4_TOPIC_T(actuator_controls_0) &msg) +{ + // read message + memcpy(inputs,msg,sizeof(inputs)); + // mix + +} + + int main(int argc, char **argv) +{ + ros::init(argc, argv, "mc_mixer"); + ros::NodeHandle n; + ros::Subscriber sub = n.subscribe("actuator_controls_0", 1000, actuatorControlsCallback); + + ros::spin(); + + return 0; +} |