Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

updated rosplane to reflect new offboard command message definition #75

Merged
merged 2 commits into from
Jan 23, 2025
+9 −9
Merged

updated rosplane to reflect new offboard command message definition #75

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
aa0f970
updated rosplane to reflect new offboard command message definition
JMoore5353 Nov 26, 2024
ed6eae3
Merge branch 'main' into mixer-computation
JMoore5353 Jan 22, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions rosplane/src/controller_base.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand Down
10 changes: 5 additions & 5 deletions rosplane_extra/src/input_mapper.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand Down Expand Up @@ -342,4 +342,4 @@ int main(int argc, char * argv[])
auto node = std::make_shared<rosplane::InputMapper>();
rclcpp::spin(node);
return 0;
}
}