Hi all,
I’m newbie in px4 and trying to make example code.
What I want to is to give reference signal (e.g. : 3211 roll angle signal) to the quadrotor.
As the first step of that, I make some example code as below.
The code subscribes vehicle_attitude.h, and publish actuator_controls.h.
The problem is that when I type px4_tutorial in px4shell, terminal prints attitude but the quadrotor doesn’t react to actuator_controls published by px4_tutorial.
What am I missed?
Also, there are any difference between actuator_controls_0 and actuator_controls_1 which are both name of the topic “actuator_controls”.
thanks and sorry for my poor english.
#include <px4_platform_common/log.h>
#include <uORB/topics/sensor_combined.h>
#include <px4_platform_common/posix.h>
#include <uORB/topics/vehicle_attitude.h>
#include <string.h>
#include <uORB/topics/actuator_controls.h>
__EXPORT int px4_tutorial_main(int argc, char *argv[]);
int px4_tutorial_main(int argc, char *argv[]) {
PX4_INFO("Hello Sky!");
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
struct actuator_controls_s ctr;
memset(&ctr, 0, sizeof(ctr));
orb_advert_t ctr_pub = orb_advertise(ORB_ID(actuator_controls_0), &ctr);
int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
orb_set_interval(sensor_sub_fd, 200);
px4_pollfd_struct_t fds[] = {
{ .fd = sensor_sub_fd, .events = POLLIN},
};
int error_counter = 0;
for (int i = 0; i < 5; i++) {
int poll_ret = px4_poll(fds, 1, 1000);
if (poll_ret == 0) {
PX4_ERR("Got no data within a second");
} else if (poll_ret <0 ) {
if (error_counter < 10 || error_counter % 50 == 0) {
PX4_ERR("ERROR return value from poll(): %d", poll_ret);
}
error_counter++;
} else {
if (fds[0].revents & POLLIN) {
struct sensor_combined_s raw;
orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
PX4_INFO("Attitude:\t%8.4f\t%8.4f\t%8.4f",
(double)raw.accelerometer_m_s2[0],
(double)raw.accelerometer_m_s2[1],
(double)raw.accelerometer_m_s2[2]);
att.q[0] = 1;
att.q[1] = 2;
att.q[2] = 3;
orb_publish(ORB_ID(vehicle_attitude), att_pub, &att);
}
}
}
ctr.control[0] = 0;
ctr.control[1] = 0;
ctr.control[2] = 0;
ctr.control[3] = 1.0f;
orb_publish(ORB_ID(actuator_controls_0), ctr_pub, &ctr);
PX4_INFO("exiting");
return 0;
}