From 447c433ff9e625fa736ef2f39034ab93efa1fef4 Mon Sep 17 00:00:00 2001 From: Jacob Moore Date: Mon, 26 Jan 2026 14:34:14 -0700 Subject: [PATCH] feat: update firmware command message objects to new vector representation --- rosplane/src/controller/controller_ros.cpp | 8 ++++---- rosplane_extra/src/input_mapper.cpp | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/rosplane/src/controller/controller_ros.cpp b/rosplane/src/controller/controller_ros.cpp index 1be5dfb..c993d80 100644 --- a/rosplane/src/controller/controller_ros.cpp +++ b/rosplane/src/controller/controller_ros.cpp @@ -150,10 +150,10 @@ void ControllerROS::actuator_controls_publish() actuators.mode = rosflight_msgs::msg::Command::MODE_PASS_THROUGH; // Package control efforts. If the output is infinite replace with 0. - actuators.qx = (std::isfinite(output.delta_a)) ? output.delta_a : 0.0f; - actuators.qy = (std::isfinite(output.delta_e)) ? output.delta_e : 0.0f; - actuators.qz = (std::isfinite(output.delta_r)) ? output.delta_r : 0.0f; - actuators.fx = (std::isfinite(output.delta_t)) ? output.delta_t : 0.0f; + actuators.u[3] = (std::isfinite(output.delta_a)) ? output.delta_a : 0.0f; + actuators.u[4] = (std::isfinite(output.delta_e)) ? output.delta_e : 0.0f; + actuators.u[5] = (std::isfinite(output.delta_r)) ? output.delta_r : 0.0f; + actuators.u[0] = (std::isfinite(output.delta_t)) ? output.delta_t : 0.0f; // Publish actuators. actuators_pub_->publish(actuators); diff --git a/rosplane_extra/src/input_mapper.cpp b/rosplane_extra/src/input_mapper.cpp index e4505ea..145c29d 100644 --- a/rosplane_extra/src/input_mapper.cpp +++ b/rosplane_extra/src/input_mapper.cpp @@ -249,16 +249,16 @@ void InputMapper::command_callback(const rosflight_msgs::msg::Command::SharedPtr { u_int8_t ignore = rosflight_msgs::msg::Command::IGNORE_NONE; if (params_.get_string("aileron_input") == "rc_aileron") { - ignore |= rosflight_msgs::msg::Command::IGNORE_QX; + ignore |= rosflight_msgs::msg::Command::IGNORE_VALUE3; } if (params_.get_string("elevator_input") == "rc_elevator") { - ignore |= rosflight_msgs::msg::Command::IGNORE_QY; + ignore |= rosflight_msgs::msg::Command::IGNORE_VALUE4; } if (params_.get_string("rudder_input") == "rc_rudder") { - ignore |= rosflight_msgs::msg::Command::IGNORE_QZ; + ignore |= rosflight_msgs::msg::Command::IGNORE_VALUE5; } if (params_.get_string("throttle_input") == "rc_throttle") { - ignore |= rosflight_msgs::msg::Command::IGNORE_FX; + ignore |= rosflight_msgs::msg::Command::IGNORE_VALUE0; } msg->ignore = ignore; mapped_command_pub_->publish(*msg);