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ros: move params to type/frame launch files

sbg
Thomas Gubler 10 years ago
parent
3da1b701ed
commit
68914df4d0
3 changed files with 28 additions and 13 deletions
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  1. 14
      launch/ardrone.launch
  2. 14
      launch/iris.launch
  3. 13
      launch/multicopter.launch

14
launch/ardrone.launch
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@ -2,4 +2,18 @@ @@ -2,4 +2,18 @@
<include file="$(find px4)/launch/multicopter_x.launch" />
<group ns="px4_multicopter">
<param name="MC_ROLL_P" type="double" value="6.0" />
<param name="MC_PITCH_P" type="double" value="6.0" />
<param name="MC_ROLLRATE_P" type="double" value="0.05" />
<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" />
<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>
</launch>

14
launch/iris.launch
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@ -2,4 +2,18 @@ @@ -2,4 +2,18 @@
<include file="$(find px4)/launch/multicopter_w.launch" />
<group ns="px4_multicopter">
<param name="MC_ROLL_P" type="double" value="6.0" />
<param name="MC_PITCH_P" type="double" value="6.0" />
<param name="MC_ROLLRATE_P" type="double" value="0.05" />
<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" />
<param name="MC_YAW_P" type="double" value="3.0" />
<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>
</launch>

13
launch/multicopter.launch
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@ -7,19 +7,6 @@ @@ -7,19 +7,6 @@
<node pkg="px4" name="mc_mixer" type="mc_mixer"/>
<node pkg="px4" name="attitude_estimator" type="attitude_estimator"/>
<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
<param name="MC_ROLL_P" type="double" value="6.0" />
<param name="MC_PITCH_P" type="double" value="6.0" />
<param name="MC_ROLLRATE_P" type="double" value="0.05" />
<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" />
<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" />
<param name="mixer" type="string" value="x" />
</group>
</launch>

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