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Merged
JMoore5353 merged 1 commit into from
Jan 27, 2026
Merged

feat: update firmware command message objects to new vector represent… #91

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8 changes: 4 additions & 4 deletions rosplane/src/controller/controller_ros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
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8 changes: 4 additions & 4 deletions rosplane_extra/src/input_mapper.cpp
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Expand Up @@ -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);
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