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make clear that switches are hardcoded to manual mode

This commit is contained in:
Thomas Gubler 2014-12-30 11:25:27 +01:00
parent c016804594
commit 502952e034
1 changed files with 12 additions and 1 deletions
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13
src/platforms/ros/nodes/manual_input/manual_input.cpp
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@ -70,11 +70,22 @@ void ManualInput::JoyCallback(const sensor_msgs::JoyConstPtr& msg)
px4::manual_control_setpoint msg_out;
/* Fill px4 manual control setpoint topic with contents from ros joystick */
/* Map sticks to x, y, z, r */
MapAxis(msg, param_axes_map[0], param_axes_scale[0], param_axes_offset[0], msg_out.x);
MapAxis(msg, param_axes_map[1], param_axes_scale[1], param_axes_offset[1], msg_out.y);
MapAxis(msg, param_axes_map[2], param_axes_scale[2], param_axes_offset[2], msg_out.z);
MapAxis(msg, param_axes_map[3], param_axes_scale[3], param_axes_offset[3], msg_out.r);
ROS_INFO("x: %1.4f y: %1.4f z: %1.4f r: %1.4f", msg_out.x, msg_out.y, msg_out.z, msg_out.r);
//ROS_INFO("x: %1.4f y: %1.4f z: %1.4f r: %1.4f", msg_out.x, msg_out.y, msg_out.z, msg_out.r);
/* Map buttons to switches */
//XXX todo
/* for now just publish switches in position for manual flight */
msg_out.mode_switch = 0;
msg_out.return_switch = 0;
msg_out.posctl_switch = 0;
msg_out.loiter_switch = 0;
msg_out.acro_switch = 0;
msg_out.offboard_switch = 0;
_man_ctrl_sp_pub.publish(msg_out);
}