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Only released in EOL distros:  

starmac_robots: simulated_quadrotor | starmac_robots_asctec

Package Summary

Bridge between starmac_flyer vehicle-agnostic code and the asctec_autopilot driver package

Nodes

asctec_adapter

Bridge between starmac_flyer vehicle-agnostic code and the asctec_autopilot driver package. Enables support for Ascending Technologies' Pelican MAV.

Subscribed Topics

teleop_flyer/motor_enable (std_msgs/Bool) controller_mux/output (flyer_controller/control_mode_output) odom (nav_msgs/Odometry) asctec_proc/imu (sensor_msgs/Imu) ~land_now (std_msgs/Bool) autopilot/LL_STATUS (asctec_msgs/LLStatus)

Published Topics

<based on output_topic param> (asctec_msgs/CtrlInput) <based on estop_topic param> (std_msgs/Bool) /diagnostics (diagnostic_msgs/DiagnosticStatus)

Parameters

~output_topic (string, default: "autopilot/CTRL_INPUT") ~estop_topic (string, default: "autopilot/ESTOP") ~deadman_timeout (double, default: 0.5) ~alt_KP (double, default: 200.0) ~alt_KI (double, default: 15.0) ~alt_KD (double, default: 300.0) ~alt_KDD (double, default: 0.0) ~alt_Ilimit (double, default: 5.0) ~yaw_KP (double, default: 1.0) ~yaw_KI (double, default: 1.0) ~yaw_KD (double, default: 0.0) ~yaw_Ilimit (double, default: 5.0) ~yaw_rate_limit (double, default: 4.0) ~roll_slew_rate_limit (double, default: 10.0) ~pitch_slew_rate_limit (double, default: 10.0) ~yaw_slew_rate_limit (double, default: 5.0) ~nominal_thrust (int, default: 1950) ~thrust_mult (double, default: 1.0) ~max_thrust (int, default: 2100) ~accel_bias (double, default: 9.81) ~land_now_thrust_decrease_rate (int, default: 200) ~land_now_min_thrust_ratio (double, default: 0.5) ~pitch_trim (double, default: 0.0) ~roll_trim (double, default: 0.0) ~yaw_offset (double, default: 0.0)


2019-07-13 13:13