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Cleanup simulation code, remove debug model showing current attitude estimation

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This commit is contained in:
Oleg Kalachev
2023-12-29 18:45:19 +03:00
parent 3207fdb43c
commit 645b148564
3 changed files with 30 additions and 117 deletions
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17
gazebo/joystick.h
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@@ -7,12 +7,10 @@
#include <gazebo/gazebo.hh>
#include <iostream>
using namespace std;
static const int16_t channelNeutralMin[] = {-1290, -258, -26833, 0, 0, 0};
static const int16_t channelNeutralMax[] = {-1032, -258, -27348, 3353, 0, 0};
static const int16_t channelMax[] = {27090, 27090, 27090, 27090, 0, 0};
// NOTE: this should be changed to the actual calibration values
const int16_t channelNeutralMin[] = {-1290, -258, -26833, 0, 0, 0};
const int16_t channelNeutralMax[] = {-1032, -258, -27348, 3353, 0, 0};
const int16_t channelMax[] = {27090, 27090, 27090, 27090, 0, 0};
#define RC_CHANNEL_ROLL 0
#define RC_CHANNEL_PITCH 1
@@ -21,8 +19,7 @@ static const int16_t channelMax[] = {27090, 27090, 27090, 27090, 0, 0};
#define RC_CHANNEL_AUX 4
#define RC_CHANNEL_MODE 5
static SDL_Joystick *joystick;
SDL_Joystick *joystick;
bool joystickInitialized = false, warnShown = false;
void normalizeRC();
@@ -33,9 +30,9 @@ void joystickInit()
joystick = SDL_JoystickOpen(0);
if (joystick != NULL) {
joystickInitialized = true;
gzmsg << "Joystick initialized: " << SDL_JoystickNameForIndex(0) << endl;
gzmsg << "Joystick initialized: " << SDL_JoystickNameForIndex(0) << std::endl;
} else if (!warnShown) {
gzwarn << "Joystick not found, begin waiting for joystick..." << endl;
gzwarn << "Joystick not found, begin waiting for joystick..." << std::endl;
warnShown = true;
}
}