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/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file commander.cpp
* Dummy commander node that publishes the various status topics
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "commander.h"
#include <platforms/px4_middleware.h>
Commander::Commander() :
_n(),
_man_ctrl_sp_sub(_n.subscribe("manual_control_setpoint", 10, &Commander::ManualControlInputCallback, this)),
_vehicle_control_mode_pub(_n.advertise<px4::vehicle_control_mode>("vehicle_control_mode", 10)),
_actuator_armed_pub(_n.advertise<px4::actuator_armed>("actuator_armed", 10)),
_vehicle_status_pub(_n.advertise<px4::vehicle_status>("vehicle_status", 10)),
_parameter_update_pub(_n.advertise<px4::parameter_update>("parameter_update", 10)),
_msg_parameter_update(),
_msg_actuator_armed()
{
}
void Commander::ManualControlInputCallback(const px4::manual_control_setpointConstPtr &msg)
{
px4::vehicle_control_mode msg_vehicle_control_mode;
px4::vehicle_status msg_vehicle_status;
/* fill vehicle control mode based on (faked) stick positions*/
EvalSwitches(msg, msg_vehicle_status, msg_vehicle_control_mode);
msg_vehicle_control_mode.timestamp = px4::get_time_micros();
/* fill actuator armed */
float arm_th = 0.95;
_msg_actuator_armed.timestamp = px4::get_time_micros();
if (_msg_actuator_armed.armed) {
/* Check for disarm */
if (msg->r < -arm_th && msg->z < (1 - arm_th)) {
_msg_actuator_armed.armed = false;
msg_vehicle_status.arming_state = msg_vehicle_status.ARMING_STATE_STANDBY;
}
} else {
/* Check for arm */
if (msg->r > arm_th && msg->z < (1 - arm_th)) {
_msg_actuator_armed.armed = true;
msg_vehicle_status.arming_state = msg_vehicle_status.ARMING_STATE_ARMED;
}
}
/* fill vehicle status */
msg_vehicle_status.timestamp = px4::get_time_micros();
msg_vehicle_status.hil_state = msg_vehicle_status.HIL_STATE_OFF;
msg_vehicle_status.hil_state = msg_vehicle_status.VEHICLE_TYPE_QUADROTOR;
msg_vehicle_status.is_rotary_wing = true;
_vehicle_control_mode_pub.publish(msg_vehicle_control_mode);
_actuator_armed_pub.publish(_msg_actuator_armed);
_vehicle_status_pub.publish(msg_vehicle_status);
/* Fill parameter update */
if (px4::get_time_micros() - _msg_parameter_update.timestamp > 1e6) {
_msg_parameter_update.timestamp = px4::get_time_micros();
_parameter_update_pub.publish(_msg_parameter_update);
}
}
void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg,
px4::vehicle_status &msg_vehicle_status,
px4::vehicle_control_mode &msg_vehicle_control_mode) {
// XXX this is a minimal implementation. If more advanced functionalities are
// needed consider a full port of the commander
switch (msg->mode_switch) {
case px4::manual_control_setpoint::SWITCH_POS_NONE:
ROS_WARN("Joystick button mapping error, main mode not set");
break;
case px4::manual_control_setpoint::SWITCH_POS_OFF: // MANUAL
msg_vehicle_status.main_state = msg_vehicle_status.MAIN_STATE_MANUAL;
msg_vehicle_status.nav_state = msg_vehicle_status.NAVIGATION_STATE_MANUAL;
msg_vehicle_control_mode.flag_control_manual_enabled = true;
msg_vehicle_control_mode.flag_control_rates_enabled = true;
msg_vehicle_control_mode.flag_control_attitude_enabled = true;
msg_vehicle_control_mode.flag_control_altitude_enabled = false;
msg_vehicle_control_mode.flag_control_climb_rate_enabled = false;
msg_vehicle_control_mode.flag_control_position_enabled = false;
break;
case px4::manual_control_setpoint::SWITCH_POS_MIDDLE: // ASSIST
if (msg->posctl_switch == px4::manual_control_setpoint::SWITCH_POS_ON) {
msg_vehicle_status.main_state = msg_vehicle_status.MAIN_STATE_POSCTL;
msg_vehicle_status.nav_state = msg_vehicle_status.NAVIGATION_STATE_POSCTL;
msg_vehicle_control_mode.flag_control_manual_enabled = true;
msg_vehicle_control_mode.flag_control_rates_enabled = true;
msg_vehicle_control_mode.flag_control_attitude_enabled = true;
msg_vehicle_control_mode.flag_control_altitude_enabled = true;
msg_vehicle_control_mode.flag_control_climb_rate_enabled = true;
msg_vehicle_control_mode.flag_control_position_enabled = true;
} else {
msg_vehicle_status.main_state = msg_vehicle_status.MAIN_STATE_ALTCTL;
msg_vehicle_status.nav_state = msg_vehicle_status.NAVIGATION_STATE_ALTCTL;
msg_vehicle_control_mode.flag_control_manual_enabled = true;
msg_vehicle_control_mode.flag_control_rates_enabled = true;
msg_vehicle_control_mode.flag_control_attitude_enabled = true;
msg_vehicle_control_mode.flag_control_altitude_enabled = true;
msg_vehicle_control_mode.flag_control_climb_rate_enabled = true;
msg_vehicle_control_mode.flag_control_position_enabled = false;
}
break;
}
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "commander");
Commander m;
ros::spin();
return 0;
}
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