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Now only loads the writeable subset of drone parameters #27

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merged 6 commits into from
Nov 14, 2012
Merged

Now only loads the writeable subset of drone parameters #27

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3ec0db0
will now only read rosparams for writeable drone parameters
Nov 12, 2012
699fa5a
Revert "will now only read rosparams for writeable drone parameters"
mikehamer Nov 12, 2012
b72793b
Will now only read rosparams for writeable drone parameters
mikehamer Nov 12, 2012
d1de363
A more sensible launch file for most people
mikehamer Nov 12, 2012
712a24b
Fixed launch file
mikehamer Nov 12, 2012
5d48b4d
Updated README to include tm format
mikehamer Nov 13, 2012
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -86,7 +86,7 @@ Information received from the drone will be published to the `ardrone/navdata` t
* `altd`: Estimated altitude (mm)
* `vx`, `vy`, `vz`: Linear velocity (mm/s) [TBA: Convention]
* `ax`, `ay`, `az`: Linear acceleration (g) [TBA: Convention]
* `tm`: Timestamp of the data returned by the Drone
* `tm`: Timestamp of the data returned by the Drone returned as a packed uint32 (sec:11; usec:21)

### IMU data

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21 changes: 10 additions & 11 deletions launch/ardrone.launch
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Expand Up @@ -5,23 +5,22 @@
<param name="max_bitrate" value="4000" />
<param name="bitrate" value="4000" />
<param name="navdata_demo" value="0" />
<param name="flight_without_shell" value="1" />
<param name="altitude_max" value="4000" />
<param name="altitude_min" value="150" />
<param name="euler_angle_max" value="0.5" />
<param name="control_vz_max" value="2000" />
<param name="control_yaw" value="350" />
<param name="flight_without_shell" value="0" />
<param name="altitude_max" value="3000" />
<param name="altitude_min" value="50" />
<param name="euler_angle_max" value="0.21" />
<param name="control_vz_max" value="700" />
<param name="control_yaw" value="1.75" />
<param name="detect_type" value="10" />
<param name="enemy_colors" value="3" />
<param name="groundstripe_colors" value="8" />
<param name="detections_select_h" value="32" />
<param name="detections_select_v_hsync" value="128" />
<param name="enemy_without_shell" value="0" />
<param name="do_imu_caliberation" value="false" />
<param name="tf_prefix" value="mydrone" />
<!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
<rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
<rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
<rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
<!-- Covariance Values (3x3 matrices reshaped to 1x9)-->
<rosparam param="cov/imu_la">[0.1, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1]</rosparam>
<rosparam param="cov/imu_av">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]</rosparam>
<rosparam param="cov/imu_or">[1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 100000.0]</rosparam>
</node>
</launch>
8 changes: 4 additions & 4 deletions src/ardrone_driver.cpp
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Expand Up @@ -195,8 +195,8 @@ void ARDroneDriver::configureDrone()

// firstly we send the CAT_COMMON parameters, for example outdoor, as these settings can affect where the other parameters are stored
#define ARDRONE_CONFIG_KEY_REF_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) //do nothing for reference-only parameters
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY==CAT_COMMON) SEND_PARAM_NUM(NAME,CATEGORY,DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY==CAT_COMMON) SEND_PARAM_STR(NAME,CATEGORY,DEFAULT) }
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY==CAT_COMMON && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) SEND_PARAM_NUM(NAME,CATEGORY,DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY==CAT_COMMON && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) SEND_PARAM_STR(NAME,CATEGORY,DEFAULT) }

#include <config_keys.h> // include the parameter definitions, which will be replaced by the above

Expand All @@ -205,8 +205,8 @@ void ARDroneDriver::configureDrone()

// then we send the rest of the parameters. The problem is if we send euler_angle_max (for example) before sending outdoor, it will get written to the wrong parameter
// (indoor_ not outdoor_euler_angle_max) and then will be overwritten by the default when changing state from indoor to outdoor, so we need to send common parameters first.
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY!=CAT_COMMON) SEND_PARAM_NUM(NAME,CATEGORY,DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY!=CAT_COMMON) SEND_PARAM_STR(NAME,CATEGORY,DEFAULT) }
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY!=CAT_COMMON && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) SEND_PARAM_NUM(NAME,CATEGORY,DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY!=CAT_COMMON && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) SEND_PARAM_STR(NAME,CATEGORY,DEFAULT) }

#include <config_keys.h> // include the parameter definitions, which will be replaced by the above

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20 changes: 12 additions & 8 deletions src/ardrone_sdk.cpp
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Expand Up @@ -89,28 +89,32 @@ extern "C" {
#undef LOAD_PARAM_STR
#undef LOAD_PARAM_NUM

#define LOAD_PARAM_NUM(NAME,C_TYPE) \
{ double param; \
#define LOAD_PARAM_NUM(NAME,C_TYPE,DEFAULT) \
{ \
double param; \
ROS_DEBUG("CHECK: "#NAME); \
if(ros::param::get("~"#NAME,param)) \
{ \
ardrone_application_default_config.NAME = (C_TYPE)param; \
ROS_DEBUG("SET: "#NAME" = %f", (float)ardrone_application_default_config.NAME); \
ROS_DEBUG("SET: "#NAME" = %f (DEFAULT = %f)", (float)ardrone_application_default_config.NAME, (float)DEFAULT); \
} \
}

#define LOAD_PARAM_STR(NAME) \
{ std::string param; \
#define LOAD_PARAM_STR(NAME,DEFAULT) \
{ \
std::string param; \
ROS_DEBUG("CHECK: "#NAME); \
if(ros::param::get("~"#NAME,param)) \
{ \
param = param.substr(0,STRING_T_SIZE-1); \
strcpy(ardrone_application_default_config.NAME , param.c_str()); \
ROS_DEBUG("SET: "#NAME" = %s", ardrone_application_default_config.NAME); \
ROS_DEBUG("SET: "#NAME" = %s (DEFAULT = %s)", ardrone_application_default_config.NAME, DEFAULT); \
} \
}

#define ARDRONE_CONFIG_KEY_REF_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) //do nothing for reference-only parameters
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom")) LOAD_PARAM_NUM(NAME,C_TYPE) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom")) LOAD_PARAM_STR(NAME) }
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) LOAD_PARAM_NUM(NAME,C_TYPE, DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) LOAD_PARAM_STR(NAME, DEFAULT) }

#include <config_keys.h> // include the parameter definitions, which will be replaced by the above

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