diff options
| -rw-r--r-- | src/platforms/ros/nodes/manual_input/manual_input.cpp | 13 |
1 files changed, 12 insertions, 1 deletions
diff --git a/src/platforms/ros/nodes/manual_input/manual_input.cpp b/src/platforms/ros/nodes/manual_input/manual_input.cpp index 8fc158504..2ee2dadbc 100644 --- a/src/platforms/ros/nodes/manual_input/manual_input.cpp +++ b/src/platforms/ros/nodes/manual_input/manual_input.cpp @@ -70,11 +70,22 @@ void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg) px4::manual_control_setpoint msg_out; /* Fill px4 manual control setpoint topic with contents from ros joystick */ + /* Map sticks to x, y, z, r */ MapAxis(msg, param_axes_map[0], param_axes_scale[0], param_axes_offset[0], msg_out.x); MapAxis(msg, param_axes_map[1], param_axes_scale[1], param_axes_offset[1], msg_out.y); MapAxis(msg, param_axes_map[2], param_axes_scale[2], param_axes_offset[2], msg_out.z); MapAxis(msg, param_axes_map[3], param_axes_scale[3], param_axes_offset[3], msg_out.r); - ROS_INFO("x: %1.4f y: %1.4f z: %1.4f r: %1.4f", msg_out.x, msg_out.y, msg_out.z, msg_out.r); + //ROS_INFO("x: %1.4f y: %1.4f z: %1.4f r: %1.4f", msg_out.x, msg_out.y, msg_out.z, msg_out.r); + + /* Map buttons to switches */ + //XXX todo + /* for now just publish switches in position for manual flight */ + msg_out.mode_switch = 0; + msg_out.return_switch = 0; + msg_out.posctl_switch = 0; + msg_out.loiter_switch = 0; + msg_out.acro_switch = 0; + msg_out.offboard_switch = 0; _man_ctrl_sp_pub.publish(msg_out); } |