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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-02 12:22:06 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-02 16:09:52 +0100 |
| commit | 3932013777c232c8c91e34144f54f6fd2f635175 (patch) | |
| tree | 048f2bbce8cd6e81c32a58819d808062e0e3db23 /src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp | |
| parent | 92729b3020afe204aebaeb14d502654ad9251e45 (diff) | |
| download | px4-firmware-3932013777c232c8c91e34144f54f6fd2f635175.tar.gz px4-firmware-3932013777c232c8c91e34144f54f6fd2f635175.tar.bz2 px4-firmware-3932013777c232c8c91e34144f54f6fd2f635175.zip | |
ros nodes: add mixer for euroc
Diffstat (limited to 'src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp')
| -rw-r--r-- | src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp | 10 |
1 files changed, 9 insertions, 1 deletions
diff --git a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp index 966c5cfb7..e8c65905f 100644 --- a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp +++ b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp @@ -90,15 +90,23 @@ const MultirotorMixer::Rotor _config_quad_plus[] = { { -0.000000, -1.000000, -1.00 }, }; +const MultirotorMixer::Rotor _config_quad_plus_euroc[] = { + { 0.000000, 1.000000, 1.00 }, + { -0.000000, -1.000000, 1.00 }, + { 1.000000, 0.000000, -1.00 }, + { -1.000000, 0.000000, -1.00 }, +}; + const MultirotorMixer::Rotor *_config_index[3] = { &_config_x[0], &_config_quad_plus[0], + &_config_quad_plus_euroc[0] }; MultirotorMixer::MultirotorMixer(): _n(), _rotor_count(4), - _rotors(_config_index[1]) //XXX +config hardcoded + _rotors(_config_index[2]) //XXX + eurocconfig hardcoded { _sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback,this); _pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands",10); |