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ROSBuzz_MISTLab
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test: suspecting offset is ignored

This commit is contained in:
isvogor 2017-04-12 15:29:27 -04:00
parent a926feea8d
commit 6a1f18d656
2 changed files with 22 additions and 14 deletions
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34
src/roscontroller.cpp
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@ -448,9 +448,9 @@ namespace rosbzz_node{
}
} else if (tmp == buzzuav_closures::COMMAND_MOVETO) { /*Buzz call for moveto*/
/*prepare the goto publish message ATTENTION: ENU FRAME FOR MAVROS STANDARD (then converted to NED)*/
// roscontroller::SetLocalPosition(goto_pos[1], goto_pos[0], goto_pos[2], 0);
roscontroller::SetLocalPosition(goto_pos[1], goto_pos[0], goto_pos[2], 0);
roscontroller::SetLocalPositionNonRaw(goto_pos[1], goto_pos[0], goto_pos[2], 0);
//roscontroller::SetLocalPositionNonRaw(goto_pos[1], goto_pos[0], goto_pos[2], 0);
}
}
/*----------------------------------------------
@ -777,21 +777,29 @@ namespace rosbzz_node{
// http://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html#copter-commands-in-guided-mode-set-position-target-local-ned
mavros_msgs::PositionTarget moveMsg;
const uint16_t ignore_all_except_xyz_y = (1 << 11) | (7 << 6) | (7 << 3);
moveMsg.coordinate_frame = mavros_msgs::PositionTarget::FRAME_LOCAL_OFFSET_NED;
moveMsg.type_mask = mavros_msgs::PositionTarget::IGNORE_AFX |
mavros_msgs::PositionTarget::IGNORE_AFY |
mavros_msgs::PositionTarget::IGNORE_AFZ;
// alt: 0b0000111111111000
moveMsg.type_mask = ignore_all_except_xyz_y;
moveMsg.header.frame_id = 1;
moveMsg.header.seq = setpoint_counter++;
moveMsg.header.stamp = ros::Time::now();
moveMsg.position.x = 0.5;
moveMsg.position.y = 0.0;
moveMsg.position.z = 2;
moveMsg.velocity.x = 0.5;
moveMsg.velocity.y = 0.0;
moveMsg.velocity.z = 0.5;
moveMsg.yaw = 0;
my_x += x;
my_y += y;
moveMsg.position.x = x;
moveMsg.position.y = y;
moveMsg.position.z = 3;
moveMsg.yaw_rate = 0.0;
moveMsg.yaw = 0.0;
geometry_msgs::Vector3 zeroVec;
zeroVec.x = 0.0; zeroVec.y = 0.0; zeroVec.z = 0.0;
moveMsg.acceleration_or_force = zeroVec;
moveMsg.velocity = zeroVec;
localsetpoint_pub.publish(moveMsg);

2
src/testflockfev.bzz
View File

@ -50,7 +50,7 @@ function hexagon() {
statef=land
} else {
timeW = timeW+1
uav_moveto(0.0,0.02)
uav_moveto(0.0,0.35)
}
}