Revision 122a57d8
ID | 122a57d83c541c8aea7c8b2841c4b6c042b28387 |
Minor changes in preparation for test flight.
-Added parameter default_goal to altitude_node
-Changed joystick button for toggling altitude control to button 11
instead of 1.
quad2/altitude_node/src/altitude_node.cpp | ||
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32 | 32 |
enable_sub = n.subscribe<std_msgs::Bool>("/altitude_node/enable", |
33 | 33 |
100, &AltitudeNode::enable_cb, this); |
34 | 34 |
pub = n.advertise<std_msgs::Float64>("/mikrokopter/thrust", 100); |
35 |
|
|
36 |
float default_goal; |
|
37 |
ros::param::param<float>("~default_goal", default_goal, 0); |
|
38 |
pid.change_goal(default_goal); |
|
35 | 39 |
} |
36 | 40 |
|
37 | 41 |
void AltitudeNode::height_cb(const mikrokopter::FcDebug::ConstPtr& fc) |
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