forked from Archive/PX4-Autopilot
ros nodes: add mixer for euroc
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92729b3020
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@ -90,15 +90,23 @@ const MultirotorMixer::Rotor _config_quad_plus[] = {
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{ -0.000000, -1.000000, -1.00 },
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};
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const MultirotorMixer::Rotor _config_quad_plus_euroc[] = {
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{ 0.000000, 1.000000, 1.00 },
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{ -0.000000, -1.000000, 1.00 },
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{ 1.000000, 0.000000, -1.00 },
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{ -1.000000, 0.000000, -1.00 },
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};
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const MultirotorMixer::Rotor *_config_index[3] = {
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&_config_x[0],
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&_config_quad_plus[0],
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&_config_quad_plus_euroc[0]
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};
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MultirotorMixer::MultirotorMixer():
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_n(),
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_rotor_count(4),
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_rotors(_config_index[1]) //XXX +config hardcoded
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_rotors(_config_index[2]) //XXX + eurocconfig hardcoded
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{
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_sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback,this);
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_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands",10);
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