updated rosplane to reflect new offboard command message definition

rosflight · Nov 26, 2024 · aa0f970 · aa0f970
1 parent 510e092
commit aa0f970
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Showing 2 changed files with 9 additions and 9 deletions.
diff --git a/rosplane/src/controller_base.cpp b/rosplane/src/controller_base.cpp
@@ -115,10 +115,10 @@ void ControllerBase::actuator_controls_publish()
     actuators.mode = rosflight_msgs::msg::Command::MODE_PASS_THROUGH;
 
     // Package control efforts. If the output is infinite replace with 0.
-    actuators.x = (std::isfinite(output.delta_a)) ? output.delta_a : 0.0f;
-    actuators.y = (std::isfinite(output.delta_e)) ? output.delta_e : 0.0f;
-    actuators.z = (std::isfinite(output.delta_r)) ? output.delta_r : 0.0f;
-    actuators.f = (std::isfinite(output.delta_t)) ? output.delta_t : 0.0f;
+    actuators.qx = (std::isfinite(output.delta_a)) ? output.delta_a : 0.0f;
+    actuators.qy = (std::isfinite(output.delta_e)) ? output.delta_e : 0.0f;
+    actuators.qz = (std::isfinite(output.delta_r)) ? output.delta_r : 0.0f;
+    actuators.fx = (std::isfinite(output.delta_t)) ? output.delta_t : 0.0f;
 
     // Publish actuators.
     actuators_pub_->publish(actuators);

diff --git a/rosplane_extra/src/input_mapper.cpp b/rosplane_extra/src/input_mapper.cpp
@@ -249,16 +249,16 @@ void InputMapper::command_callback(const rosflight_msgs::msg::Command::SharedPtr
 {
   u_int8_t ignore = rosflight_msgs::msg::Command::IGNORE_NONE;
   if (params_.get_string("aileron_input") == "rc_aileron") {
-    ignore |= rosflight_msgs::msg::Command::IGNORE_X;
+    ignore |= rosflight_msgs::msg::Command::IGNORE_QX;
   }
   if (params_.get_string("elevator_input") == "rc_elevator") {
-    ignore |= rosflight_msgs::msg::Command::IGNORE_Y;
+    ignore |= rosflight_msgs::msg::Command::IGNORE_QY;
   }
   if (params_.get_string("rudder_input") == "rc_rudder") {
-    ignore |= rosflight_msgs::msg::Command::IGNORE_Z;
+    ignore |= rosflight_msgs::msg::Command::IGNORE_QZ;
   }
   if (params_.get_string("throttle_input") == "rc_throttle") {
-    ignore |= rosflight_msgs::msg::Command::IGNORE_F;
+    ignore |= rosflight_msgs::msg::Command::IGNORE_FX;
   }
   msg->ignore = ignore;
   mapped_command_pub_->publish(*msg);
@@ -342,4 +342,4 @@ int main(int argc, char * argv[])
   auto node = std::make_shared<rosplane::InputMapper>();
   rclcpp::spin(node);
   return 0;
-}
+}