From 6580d66d45cfb4b251e3b0f32b61161ee0d14ecb Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 10 Jan 2015 19:14:23 +0100
Subject: [PATCH] ros sim: use ardrone model

---
 launch/gazebo_multicopter.launch                            | 2 +-
 launch/multicopter.launch                                   | 6 +++---
 .../ros/nodes/attitude_estimator/attitude_estimator.cpp     | 6 +++---
 src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp               | 2 +-
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/launch/gazebo_multicopter.launch b/launch/gazebo_multicopter.launch
index febf7bdc07..8091e3ff2b 100644
--- a/launch/gazebo_multicopter.launch
+++ b/launch/gazebo_multicopter.launch
@@ -1,6 +1,6 @@
 <launch>
 
-<include file="$(find mav_gazebo)/launch/vtol_empty_world_with_joy.launch" />
+<include file="$(find mav_gazebo)/launch/ardrone_empty_world_with_joy.launch" />
 <include file="$(find px4)/launch/multicopter.launch" />
 
 </launch>
diff --git a/launch/multicopter.launch b/launch/multicopter.launch
index 9956c871d9..0a4b8c26df 100644
--- a/launch/multicopter.launch
+++ b/launch/multicopter.launch
@@ -14,9 +14,9 @@
 	<param name="MC_ROLLRATE_D" type="double" value="0.0" />
 	<param name="MC_PITCHRATE_P" type="double" value="0.05" />
 	<param name="MC_PITCHRATE_D" type="double" value="0.0" />
-	<param name="MC_YAW_FF" type="double" value="0.0" />
-	<param name="MC_YAW_P" type="double" value="1.0" />
-	<param name="MC_YAWRATE_P" type="double" value="0.2" />
+	<param name="MC_YAW_FF" type="double" value="0" />
+	<param name="MC_YAW_P" type="double" value="5.0" />
+	<param name="MC_YAWRATE_P" type="double" value="0.5" />
 	<param name="MC_MAN_R_MAX" type="double" value="10.0" />
 	<param name="MC_MAN_P_MAX" type="double" value="10.0" />
 </group>
diff --git a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp
index ce863d10e3..9203343633 100644
--- a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp
+++ b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp
@@ -47,7 +47,7 @@
 AttitudeEstimator::AttitudeEstimator() :
 	_n(),
 	// _sub_modelstates(_n.subscribe("/gazebo/model_states", 1, &AttitudeEstimator::ModelStatesCallback, this)),
-	_sub_imu(_n.subscribe("/vtol/imu", 1, &AttitudeEstimator::ImuCallback, this)),
+	_sub_imu(_n.subscribe("/ardrone/imu", 1, &AttitudeEstimator::ImuCallback, this)),
 	_vehicle_attitude_pub(_n.advertise<px4::vehicle_attitude>("vehicle_attitude", 1))
 {
 }
@@ -60,7 +60,7 @@ void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstP
 
 	/* Convert quaternion to rotation matrix */
 	math::Quaternion quat;
-	//XXX: search for vtol or other (other than 'plane') vehicle here
+	//XXX: search for ardrone or other (other than 'plane') vehicle here
 	int index = 1;
 	quat(0) = (float)msg->pose[index].orientation.w;
 	quat(1) = (float)msg->pose[index].orientation.x;
@@ -103,7 +103,7 @@ void AttitudeEstimator::ImuCallback(const sensor_msgs::ImuConstPtr &msg)
 
 	/* Convert quaternion to rotation matrix */
 	math::Quaternion quat;
-	//XXX: search for vtol or other (other than 'plane') vehicle here
+	//XXX: search for ardrone or other (other than 'plane') vehicle here
 	int index = 1;
 	quat(0) = (float)msg->orientation.w;
 	quat(1) = (float)msg->orientation.x;
diff --git a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
index e2180af41b..3867d448e6 100644
--- a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
+++ b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
@@ -111,7 +111,7 @@ const MultirotorMixer::Rotor *_config_index[3] = {
 MultirotorMixer::MultirotorMixer():
 	_n(),
 	_rotor_count(4),
-	_rotors(_config_index[2]) //XXX + eurocconfig hardcoded
+	_rotors(_config_index[0]) //XXX hardcoded
 {
 	_sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback, this);
 	_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands", 10);