added mixer node

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;
+}