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) |
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