Revision fd29b28e
| ID | fd29b28eb2f84596cc133172863b245968088898 |
Tested velocity control and added yaw and throttle control to joystick.
| mikrokopter/src/joystick_control.cpp | ||
|---|---|---|
| 46 | 46 |
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| 47 | 47 |
void JoystickControl::joyCallback(const sensor_msgs::Joy::ConstPtr& joy) |
| 48 | 48 |
{
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| 49 |
// TODO call control.velocity_control(...) based on Joy message |
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| 49 |
control.velocity_control(joy->axes[1], -joy->axes[0]); |
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| 50 |
control.set_yaw(-joy->axes[2]); |
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| 51 |
control.set_thrust((joy->axes[3]+1)/2); ///Adjust thrust to be between [0, 1] instead of [-1, 1] |
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| 52 |
return; |
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| 50 | 53 |
} |
| 51 | 54 |
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| 52 | 55 |
int main(int argc, char** argv) |
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