CopterExpress/clover
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Merge branch 'master' into recent-px4

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This commit is contained in:
Oleg Kalachev
2021-11-25 23:36:30 +03:00
parent 2a8c85144e 2cd3be1139
commit 140535b0b4
3 changed files with 8 additions and 3 deletions
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8
clover/src/optical_flow.cpp
View File

@@ -53,6 +53,7 @@ private:
std::unique_ptr<tf2_ros::Buffer> tf_buffer_;
std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
bool calc_flow_gyro_;
float flow_gyro_default_;
void onInit()
{
@@ -69,6 +70,7 @@ private:
roi_px_ = nh_priv.param("roi", 128);
roi_rad_ = nh_priv.param("roi_rad", 0.0);
calc_flow_gyro_ = nh_priv.param("calc_flow_gyro", false);
flow_gyro_default_ = nh_priv.param("flow_gyro_default", NAN);
img_pub_ = it_priv.advertise("debug", 1);
flow_pub_ = nh.advertise<mavros_msgs::OpticalFlowRad>("mavros/px4flow/raw/send", 1);
@@ -194,9 +196,9 @@ private:
uint32_t integration_time_us = integration_time.toSec() * 1.0e6;
// Calculate flow gyro
flow_.integrated_xgyro = NAN;
flow_.integrated_ygyro = NAN;
flow_.integrated_zgyro = NAN;
flow_.integrated_xgyro = flow_gyro_default_;
flow_.integrated_ygyro = flow_gyro_default_;
flow_.integrated_zgyro = flow_gyro_default_;
if (calc_flow_gyro_) {
try {

2
clover/www/js/topics.js
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@@ -3,11 +3,13 @@ const ros = new ROSLIB.Ros({ url: url });
ros.on('connection', function () {
document.body.classList.add('connected');
document.body.classList.remove('closed');
init();
});
ros.on('close', function () {
document.body.classList.remove('connected');
document.body.classList.add('closed');
setTimeout(function() {
// reconnect
ros.connect(url);

1
clover/www/topics.html
View File

@@ -17,6 +17,7 @@
}
#topic-type { font-family: monospace; font-size: 0.5em; vertical-align: super; font-weight: normal; }
.topic { font-family: monospace; }
body.closed { background-color: rgb(207, 207, 207); }
</style>
</head>
<body>