diff options
Diffstat (limited to 'src/platforms/ros/nodes/manual_input/manual_input.h')
| -rw-r--r-- | src/platforms/ros/nodes/manual_input/manual_input.h | 23 |
1 files changed, 21 insertions, 2 deletions
diff --git a/src/platforms/ros/nodes/manual_input/manual_input.h b/src/platforms/ros/nodes/manual_input/manual_input.h index 93e0abe64..bf704f675 100644 --- a/src/platforms/ros/nodes/manual_input/manual_input.h +++ b/src/platforms/ros/nodes/manual_input/manual_input.h @@ -39,6 +39,7 @@ */ #include "ros/ros.h" +#include <px4/manual_control_setpoint.h> #include <sensor_msgs/Joy.h> class ManualInput @@ -55,20 +56,38 @@ protected: void JoyCallback(const sensor_msgs::JoyConstPtr &msg); /** - * Helper function to map and scale joystick input + * Helper function to map and scale joystick axis */ void MapAxis(const sensor_msgs::JoyConstPtr &msg, int map_index, double scale, double offset, double deadzone, float &out); + /** + * Helper function to map joystick buttons + */ + void MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_control_setpoint &msg_mc_sp); ros::NodeHandle _n; ros::Subscriber _joy_sub; ros::Publisher _man_ctrl_sp_pub; /* Parameters */ + enum MAIN_STATE { + MAIN_STATE_MANUAL = 0, + MAIN_STATE_ALTCTL, + MAIN_STATE_POSCTL, + MAIN_STATE_AUTO_MISSION, + MAIN_STATE_AUTO_LOITER, + MAIN_STATE_AUTO_RTL, + MAIN_STATE_MAX + }; + + int _param_buttons_map[MAIN_STATE_MAX]; /**< joystick button mapping, order according to MAIN_STATE */ + bool _buttons_state[MAIN_STATE_MAX]; /**< joystick button state of last iteration, + order according to MAIN_STATE */ + int _param_axes_map[4]; double _param_axes_scale[4]; double _param_axes_offset[4]; double _param_axes_dz[4]; - + px4::manual_control_setpoint _msg_mc_sp; }; |