def PublishToQuad(self,Input_to_Quad):
# create a message of the type quad_cmd, that the simulator subscribes to
cmd = quad_cmd()
cmd.cmd_1 = Input_to_Quad[0]; cmd.cmd_2 = Input_to_Quad[1]; cmd.cmd_3 = Input_to_Quad[2]; cmd.cmd_4 = Input_to_Quad[3];
cmd.cmd_5 = 1500.0; cmd.cmd_6 = 1500.0; cmd.cmd_7 = 1500.0; cmd.cmd_8 = 1500.0
self.pub_cmd.publish(cmd)
def PublishToQuad(self, Input_to_Quad):
# create a message of the type quad_cmd, that the simulator subscribes to
cmd = quad_cmd()
cmd.cmd_1 = Input_to_Quad[0]
cmd.cmd_2 = Input_to_Quad[1]
cmd.cmd_3 = Input_to_Quad[2]
cmd.cmd_4 = Input_to_Quad[3]
cmd.cmd_5 = 1500.0
cmd.cmd_6 = 1500.0
cmd.cmd_7 = 1500.0
cmd.cmd_8 = 1500.0
self.pub_cmd.publish(cmd)
def real_publish(self,desired_3d_force_quad,yaw_rate,rc_output):
# create a message of the type quad_cmd, that the simulator subscribes to
cmd = quad_cmd()
cmd.cmd_1 = rc_output[0]
cmd.cmd_2 = rc_output[1]
cmd.cmd_3 = rc_output[2]
cmd.cmd_4 = rc_output[3]
cmd.cmd_5 = 1500.0
cmd.cmd_6 = 1500.0
cmd.cmd_7 = 1500.0
cmd.cmd_8 = 1500.0
self.pub_cmd.publish(cmd)