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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-14 07:41:14 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-14 07:41:14 +0100 |
| commit | f6c0d2310d538e44c3764f3a13d80789ca34170e (patch) | |
| tree | 4b5c5411c3b679211d876a77beaafaa880d1ed12 | |
| parent | dd2d53d7e32044d44ec37bf36b0c0a6949c4f662 (diff) | |
| download | px4-firmware-f6c0d2310d538e44c3764f3a13d80789ca34170e.tar.gz px4-firmware-f6c0d2310d538e44c3764f3a13d80789ca34170e.tar.bz2 px4-firmware-f6c0d2310d538e44c3764f3a13d80789ca34170e.zip | |
ros mixer node: add w mixer
| -rw-r--r-- | src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp | 13 |
1 files changed, 10 insertions, 3 deletions
diff --git a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp index 1073833c0..e66558fe2 100644 --- a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp +++ b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp @@ -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); |