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 | ||
|---|---|---|
| 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) |
| quad2/joystick_node/src/joystick_node.cpp | ||
|---|---|---|
| 48 | 48 |
yaw.data = -joy->axes[2]; |
| 49 | 49 |
yaw_pub.publish(yaw); |
| 50 | 50 |
|
| 51 |
bool alt_en_down = joy->buttons[0];
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| 51 |
bool alt_en_down = joy->buttons[10]; // button 11
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|
| 52 | 52 |
if (alt_en_down && !alt_en_pressed) // toggle altitude control |
| 53 | 53 |
{
|
| 54 | 54 |
altitude_enabled = !altitude_enabled; |
| quad2/launch/joystick_control.launch | ||
|---|---|---|
| 1 | 1 |
<launch> |
| 2 | 2 |
|
| 3 | 3 |
<node name="joystick_node" pkg="joystick_node" type="joystick_node"/> |
| 4 |
<node name="altitude_node" pkg="altitude_node" type="altitude_node"/> |
|
| 4 |
<node name="altitude_node" pkg="altitude_node" type="altitude_node"> |
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| 5 |
<param name="default_goal" value="0"/> |
|
| 6 |
</node> |
|
| 5 | 7 |
<node name="node_control" pkg="mikrokopter" type="node_control"> |
| 6 |
<param name="publish_rate" value="20" />
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| 8 |
<param name="publish_rate" value="20"/> |
|
| 7 | 9 |
</node> |
| 8 | 10 |
<node name="joy_node" pkg="joy" type="joy_node"/> |
| 9 | 11 |
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