From 6b0d0aa2a5d2e9623ab2850396818679672715e9 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Wed, 14 Jan 2015 11:27:32 +0100
Subject: ros: make mixer name a param

---
 launch/gazebo_ardrone_empty_world.launch | 2 +-
 launch/gazebo_ardrone_house_world.launch | 2 +-
 launch/gazebo_iris_empty_world.launch    | 2 +-
 launch/gazebo_iris_outdoor_world.launch  | 2 +-
 launch/multicopter.launch                | 1 +
 launch/multicopter_w.launch              | 9 +++++++++
 launch/multicopter_x.launch              | 9 +++++++++
 7 files changed, 23 insertions(+), 4 deletions(-)
 create mode 100644 launch/multicopter_w.launch
 create mode 100644 launch/multicopter_x.launch

(limited to 'launch')

diff --git a/launch/gazebo_ardrone_empty_world.launch b/launch/gazebo_ardrone_empty_world.launch
index 8091e3ff2..00ef7ab45 100644
--- a/launch/gazebo_ardrone_empty_world.launch
+++ b/launch/gazebo_ardrone_empty_world.launch
@@ -1,6 +1,6 @@
 <launch>
 
 <include file="$(find mav_gazebo)/launch/ardrone_empty_world_with_joy.launch" />
-<include file="$(find px4)/launch/multicopter.launch" />
+<include file="$(find px4)/launch/multicopter_x.launch" />
 
 </launch>
diff --git a/launch/gazebo_ardrone_house_world.launch b/launch/gazebo_ardrone_house_world.launch
index 7b6be75ac..f9ac1cac5 100644
--- a/launch/gazebo_ardrone_house_world.launch
+++ b/launch/gazebo_ardrone_house_world.launch
@@ -1,6 +1,6 @@
 <launch>
 
 <include file="$(find mav_gazebo)/launch/ardrone_house_world_with_joy.launch" />
-<include file="$(find px4)/launch/multicopter.launch" />
+<include file="$(find px4)/launch/multicopter_x.launch" />
 
 </launch>
diff --git a/launch/gazebo_iris_empty_world.launch b/launch/gazebo_iris_empty_world.launch
index 20574e00d..22e032978 100644
--- a/launch/gazebo_iris_empty_world.launch
+++ b/launch/gazebo_iris_empty_world.launch
@@ -1,6 +1,6 @@
 <launch>
 
 <include file="$(find mav_gazebo)/launch/iris_empty_world_with_joy.launch" />
-<include file="$(find px4)/launch/multicopter.launch" />
+<include file="$(find px4)/launch/multicopter_w.launch" />
 
 </launch>
diff --git a/launch/gazebo_iris_outdoor_world.launch b/launch/gazebo_iris_outdoor_world.launch
index e7fd0b395..88960b5ec 100644
--- a/launch/gazebo_iris_outdoor_world.launch
+++ b/launch/gazebo_iris_outdoor_world.launch
@@ -1,6 +1,6 @@
 <launch>
 
 <include file="$(find mav_gazebo)/launch/iris_outdoor_world_with_joy.launch" />
-<include file="$(find px4)/launch/multicopter.launch" />
+<include file="$(find px4)/launch/multicopter_x.launch" />
 
 </launch>
diff --git a/launch/multicopter.launch b/launch/multicopter.launch
index 0a4b8c26d..79c3c36d9 100644
--- a/launch/multicopter.launch
+++ b/launch/multicopter.launch
@@ -19,6 +19,7 @@
 	<param name="MC_YAWRATE_P" type="double" value="0.5" />
 	<param name="MC_MAN_R_MAX" type="double" value="10.0" />
 	<param name="MC_MAN_P_MAX" type="double" value="10.0" />
+	<param name="mixer" type="string" value="x" />
 </group>
 
 </launch>
diff --git a/launch/multicopter_w.launch b/launch/multicopter_w.launch
new file mode 100644
index 000000000..f124082aa
--- /dev/null
+++ b/launch/multicopter_w.launch
@@ -0,0 +1,9 @@
+<launch>
+
+<include file="$(find px4)/launch/multicopter.launch" />
+
+<group ns="px4_multicopter">
+	<param name="mixer" type="string" value="w" />
+</group>
+
+</launch>
diff --git a/launch/multicopter_x.launch b/launch/multicopter_x.launch
new file mode 100644
index 000000000..6355b87be
--- /dev/null
+++ b/launch/multicopter_x.launch
@@ -0,0 +1,9 @@
+<launch>
+
+<include file="$(find px4)/launch/multicopter.launch" />
+
+<group ns="px4_multicopter">
+	<param name="mixer" type="string" value="x" />
+</group>
+
+</launch>
-- 
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