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battery test changes

This commit is contained in:
David St-Onge 2016-11-14 20:14:25 -05:00
parent 863546477f
commit 66574a6653
6 changed files with 56 additions and 26 deletions
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0
launch/rosbuzz.launch.save Normal file
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72
src/out.basm
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@ -1,24 +1,27 @@
!8 !11
'init 'init
'i
'uav_takeoff
'step 'step
'print 'print
'bzz print: voltage: 'bzz print: remaining:
'battery 'battery
'voltage 'capacity
'uav_land
'reset 'reset
'destroy 'destroy
pushs 0 pushs 0
pushcn @__label_1 pushcn @__label_1
gstore gstore
pushs 1 pushs 3
pushcn @__label_2 pushcn @__label_2
gstore gstore
pushs 6 pushs 9
pushcn @__label_3 pushcn @__label_5
gstore gstore
pushs 7 pushs 10
pushcn @__label_4 pushcn @__label_6
gstore gstore
nop nop
@ -28,22 +31,45 @@
done done
@__label_1 @__label_1
ret0 |4,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz pushs 1 |3,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
pushi 0 |3,2,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
gstore |3,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
pushs 2 |4,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
gload |4,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
pushi 0 |4,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
callc |4,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
ret0 |5,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
@__label_2 @__label_2
pushs 2 |9,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz pushs 4 |10,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
gload |9,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz gload |10,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
pushs 3 |9,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz pushs 5 |10,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
pushs 4 |9,37,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz pushs 6 |10,39,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
gload |9,37,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz gload |10,39,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
pushs 5 |9,38,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz pushs 7 |10,40,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
tget |9,45,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz tget |10,48,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
pushi 2 |9,46,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz pushi 2 |10,49,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
callc |9,46,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz callc |10,49,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
ret0 |11,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz pushs 1 |11,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
gload |11,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
pushi 20 |11,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
gt |11,7,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
jumpz @__label_3 |11,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
pushs 8 |11,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
gload |11,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
pushi 0 |11,19,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
callc |11,19,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
@__label_3 |12,0,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
pushs 1 |12,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
pushs 1 |12,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
gload |12,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
pushi 1 |12,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
add |12,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
gstore |12,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
ret0 |14,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
@__label_3 @__label_5
ret0 |15,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz ret0 |18,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz
@__label_4 @__label_6
ret0 |19,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz ret0 |22,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test.bzz

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3
src/roscontroller.cpp
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@ -80,7 +80,7 @@ namespace rosbzz_node{
void roscontroller::Initialize_pub_sub(){ void roscontroller::Initialize_pub_sub(){
/*subscribers*/ /*subscribers*/
current_position_sub = n_c.subscribe("/dji_sdk/global_position", 1000, &roscontroller::current_pos,this); current_position_sub = n_c.subscribe("/dji_sdk/global_position", 1000, &roscontroller::current_pos,this);
battery_sub = n_c.subscribe("/dji_sdk/power_status", 1000, &roscontroller::battery,this); battery_sub = n_c.subscribe("/mav/power_status", 1000, &roscontroller::battery,this);
payload_sub = n_c.subscribe("inMavlink", 1000, &roscontroller::payload_obt,this); payload_sub = n_c.subscribe("inMavlink", 1000, &roscontroller::payload_obt,this);
/*publishers*/ /*publishers*/
payload_pub = n_c.advertise<mavros_msgs::Mavlink>("outMavlink", 1000); payload_pub = n_c.advertise<mavros_msgs::Mavlink>("outMavlink", 1000);
@ -189,6 +189,7 @@ namespace rosbzz_node{
/*battery status callback*/ /*battery status callback*/
void roscontroller::battery(const mavros_msgs::BatteryStatus::ConstPtr& msg){ void roscontroller::battery(const mavros_msgs::BatteryStatus::ConstPtr& msg){
buzzuav_closures::set_battery(msg->voltage,msg->current,msg->remaining); buzzuav_closures::set_battery(msg->voltage,msg->current,msg->remaining);
//ROS_INFO("voltage : %d current : %d remaining : %d",msg->voltage, msg->current, msg ->remaining);
} }
/*current position callback*/ /*current position callback*/

7
src/test.bzz
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@ -1,12 +1,15 @@
# Executed once at init time. # Executed once at init time.
function init() { function init() {
i=0
uav_takeoff()
} }
# Executed at each time step. # Executed at each time step.
function step() { function step() {
print("bzz print: voltage: ", battery.voltage) print("bzz print: remaining: ", battery.capacity)
if(i>20){uav_land()}
i=i+1
} }