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add service control

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Sem van der Hoeven
2023-05-02 11:54:57 +02:00
parent 517240a463
commit 1e521ea890
1 changed files with 17 additions and 30 deletions
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47
src/px4_connection/src/px4_controller.cpp
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@@ -19,7 +19,7 @@ https://discuss.px4.io/t/cannot-arm-drone-with-companion-computer-arming-denied-
#include <px4_msgs/msg/vehicle_command.hpp>
#include <px4_msgs/msg/vehicle_control_mode.hpp>
#include <drone_services/srv/set_velocity.hpp>
#include <drone_services/srv/set_attitude.hpp>
// #include <px4_msgs/msg/offboard_control_mode.hpp>
@@ -39,7 +39,7 @@ public:
trajectory_setpoint_publisher = this->create_publisher<px4_msgs::msg::TrajectorySetpoint>("/fmu/in/trajectory_setpoint", 10);
// offboard_control_mode_publisher_ = this->create_publisher<px4_msgs::msg::OffboardControlMode>("/fmu/in/offboard_control_mode", 10);
set_attitude_service_ = this->create_service<drone_services::srv::SetVelocity>("set_attitude", std::bind(&PX4Controller::set_setpoint, this, std::placeholders::_1,std::placeholders::_2,std::placeholders::_3));
set_attitude_service_ = this->create_service<drone_services::srv::SetAttitude>("set_attitude", std::bind(&PX4Controller::set_setpoint, this, std::placeholders::_1,std::placeholders::_2,std::placeholders::_3));
// create timer to send vehicle attitude setpoints every second
timer_ = this->create_wall_timer(100ms, std::bind(&PX4Controller::send_setpoint, this));
@@ -67,18 +67,20 @@ private:
float cur_yaw = 0;
float last_setpoint[3] = {0,0,0};
float last_angle = 0;
float last_thrust = 0;
void set_setpoint(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<drone_services::srv::SetVelocity::Request> request,
const std::shared_ptr<drone_services::srv::SetVelocity::Response> response)
const std::shared_ptr<drone_services::srv::SetAttitude::Request> request,
const std::shared_ptr<drone_services::srv::SetAttitude::Response> response)
{
last_setpoint[0] = request->x_speed;
last_setpoint[1] = request->y_speed;
last_setpoint[2] = request->x_speed;
last_setpoint[0] = degrees_to_radians(request->yaw);
last_setpoint[1] = degrees_to_radians(request->pitch);
last_setpoint[2] = degrees_to_radians(request->roll);
last_angle = degrees_to_radians(request->angle);
last_thrust = request->thrust;
RCLCPP_INFO(this->get_logger(), "New setpoint: yaw:%f pitch:%f roll:%f thrust:%f",last_setpoint[0],last_setpoint[1],last_setpoint[2] last_thrust);
response->status = 0;
}
@@ -117,40 +119,23 @@ private:
void send_attitude_setpoint()
{
if (setpoint_count % 20 == 0 && thrust <= 1)
{
thrust += 0.05;
RCLCPP_INFO(this->get_logger(), "increasing thrust to %f", thrust);
}
// set message to enable attitude
auto msg = px4_msgs::msg::VehicleAttitudeSetpoint();
// result quaternion
std::array<float, 4> q = {0, 0, 0, 0};
if (this->get_clock()->now().seconds() - start_time_ < 10)
if (this->get_clock()->now().seconds() - start_time_ < 30)
{
// move up?
msg.thrust_body[0] = 0; // north
msg.thrust_body[1] = 0; // east
msg.thrust_body[2] = -thrust; // down, 100% thrust up
msg.thrust_body[2] = -last_thrust;
calculate_quaternion(q, 0, 0, 0);
}
RCLCPP_INFO(this->get_logger(), "Thrust: %f", msg.thrust_body[2]);
else if (this->get_clock()->now().seconds() - start_time_ < 30)
{
if (!has_swithed)
{
RCLCPP_INFO(this->get_logger(), "changing to 0.5 thrust");
has_swithed = true;
}
calculate_quaternion(q, last_setpoint[0], last_setpoint[1], last_setpoint[2]);
msg.thrust_body[0] = 0; // north
msg.thrust_body[1] = 0; // east
msg.thrust_body[2] = -0.5; // down, 100% thrust up
calculate_quaternion(q, 0, 0, 0);
}
else
{
@@ -162,6 +147,8 @@ private:
}
}
// set quaternion
msg.q_d[0] = q.at(0);
msg.q_d[1] = q.at(1);
msg.q_d[2] = q.at(2);