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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-10 19:14:23 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-10 19:14:23 +0100 |
| commit | 6580d66d45cfb4b251e3b0f32b61161ee0d14ecb (patch) | |
| tree | 930450d5cb1cf3771a6e69ec651e0a313d18aa11 /src/platforms | |
| parent | aa8555c02b48ec5864a4dbbec6f38fbae6f73c7c (diff) | |
| download | px4-firmware-6580d66d45cfb4b251e3b0f32b61161ee0d14ecb.tar.gz px4-firmware-6580d66d45cfb4b251e3b0f32b61161ee0d14ecb.tar.bz2 px4-firmware-6580d66d45cfb4b251e3b0f32b61161ee0d14ecb.zip | |
ros sim: use ardrone model
Diffstat (limited to 'src/platforms')
| -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 |
2 files changed, 4 insertions, 4 deletions
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); |