From e60c1a842c856e1a19fcdc1b169dfdbc813e9ce2 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Thu, 15 Jan 2015 12:37:24 +0100
Subject: [PATCH] ros mixer: add iris
---
launch/iris.launch | 1 +
src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp | 17 +++++++++++++++--
2 files changed, 16 insertions(+), 2 deletions(-)
diff --git a/launch/iris.launch b/launch/iris.launch
index 81a137173a..44a0ae0341 100644
--- a/launch/iris.launch
+++ b/launch/iris.launch
@@ -14,6 +14,7 @@
<param name="MC_YAWRATE_P" type="double" value="0.5" />
<param name="MC_MAN_R_MAX" type="double" value="10.0" />
<param name="MC_MAN_P_MAX" type="double" value="10.0" />
+ <param name="mixer" type="string" value="i" />
</group>
</launch>
diff --git a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
index 9954692bc1..54f5fa78b6 100644
--- a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
+++ b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
@@ -108,12 +108,19 @@ const MultirotorMixer::Rotor _config_quad_wide[] = {
{ 0.927184, 0.374607, -1.000000 },
{ -0.777146, -0.629320, -1.000000 },
};
+const MultirotorMixer::Rotor _config_quad_iris[] = {
+ { -0.876559, 0.481295, 1.000000 },
+ { 0.826590, -0.562805, 1.000000 },
+ { 0.876559, 0.481295, -1.000000 },
+ { -0.826590, -0.562805, -1.000000 },
+};
-const MultirotorMixer::Rotor *_config_index[4] = {
+const MultirotorMixer::Rotor *_config_index[5] = {
&_config_x[0],
&_config_quad_plus[0],
&_config_quad_plus_euroc[0],
- &_config_quad_wide[0]
+ &_config_quad_wide[0],
+ &_config_quad_iris[0]
};
MultirotorMixer::MultirotorMixer():
@@ -216,13 +223,19 @@ void MultirotorMixer::actuatorControlsCallback(const PX4_TOPIC_T(actuator_contro
_n.getParamCached("mixer", mixer_name);
if (mixer_name == "x") {
_rotors = _config_index[0];
+ ROS_WARN("using x");
} else if (mixer_name == "+") {
_rotors = _config_index[1];
} else if (mixer_name == "e") {
_rotors = _config_index[2];
} else if (mixer_name == "w") {
_rotors = _config_index[3];
+ ROS_WARN("using w");
+ } else if (mixer_name == "i") {
+ _rotors = _config_index[4];
+ ROS_WARN("using i");
}
+ ROS_WARN("mixer_name %s", mixer_name.c_str());
// mix
mix();
--
GitLab