From 4869f9f3d46babb53cdde47fabda4d1b22399565 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 14 Feb 2015 16:47:24 +0100 Subject: ros:manual input dummy node: add offboard button --- src/platforms/ros/nodes/manual_input/manual_input.cpp | 15 +++++++++++++-- src/platforms/ros/nodes/manual_input/manual_input.h | 2 ++ 2 files changed, 15 insertions(+), 2 deletions(-) (limited to 'src/platforms') diff --git a/src/platforms/ros/nodes/manual_input/manual_input.cpp b/src/platforms/ros/nodes/manual_input/manual_input.cpp index 72f6e252f..d5d14a21f 100644 --- a/src/platforms/ros/nodes/manual_input/manual_input.cpp +++ b/src/platforms/ros/nodes/manual_input/manual_input.cpp @@ -76,7 +76,8 @@ ManualInput::ManualInput() : _n.param("map_posctl", _param_buttons_map[2], 2); _n.param("map_auto_mission", _param_buttons_map[3], 3); _n.param("map_auto_loiter", _param_buttons_map[4], 4); - _n.param("map_auto_rtl", _param_buttons_map[5], 4); + _n.param("map_auto_rtl", _param_buttons_map[5], 5); + _n.param("map_offboard", _param_buttons_map[6], 6); /* Default to manual */ _msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; @@ -120,7 +121,6 @@ void ManualInput::MapAxis(const sensor_msgs::JoyConstPtr &msg, int map_index, do void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_control_setpoint &msg_mc_sp) { msg_mc_sp.acro_switch = px4::manual_control_setpoint::SWITCH_POS_NONE; - msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_NONE; if (_buttons_state[MAIN_STATE_MANUAL] != msg->buttons[_param_buttons_map[MAIN_STATE_MANUAL]] == true) { msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; @@ -128,6 +128,7 @@ void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_co msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; + msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; return; } else if (_buttons_state[MAIN_STATE_ALTCTL] != msg->buttons[_param_buttons_map[MAIN_STATE_ALTCTL]] == true) { @@ -136,6 +137,7 @@ void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_co msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; + msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; return; } else if (_buttons_state[MAIN_STATE_POSCTL] != msg->buttons[_param_buttons_map[MAIN_STATE_POSCTL]] == true) { @@ -144,6 +146,15 @@ void ManualInput::MapButtons(const sensor_msgs::JoyConstPtr &msg, px4::manual_co msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_ON; msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; + msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; + return; + } else if (_buttons_state[MAIN_STATE_OFFBOARD] != msg->buttons[_param_buttons_map[MAIN_STATE_OFFBOARD]] == true) { + msg_mc_sp.mode_switch = px4::manual_control_setpoint::SWITCH_POS_MIDDLE; + msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; + msg_mc_sp.posctl_switch = px4::manual_control_setpoint::SWITCH_POS_ON; + msg_mc_sp.loiter_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; + msg_mc_sp.return_switch = px4::manual_control_setpoint::SWITCH_POS_OFF; + msg_mc_sp.offboard_switch = px4::manual_control_setpoint::SWITCH_POS_ON; return; } diff --git a/src/platforms/ros/nodes/manual_input/manual_input.h b/src/platforms/ros/nodes/manual_input/manual_input.h index bf704f675..2bafcca2e 100644 --- a/src/platforms/ros/nodes/manual_input/manual_input.h +++ b/src/platforms/ros/nodes/manual_input/manual_input.h @@ -77,6 +77,8 @@ protected: MAIN_STATE_AUTO_MISSION, MAIN_STATE_AUTO_LOITER, MAIN_STATE_AUTO_RTL, + // MAIN_STATE_ACRO, + MAIN_STATE_OFFBOARD, MAIN_STATE_MAX }; -- cgit v1.2.3