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Overview

Manual control of commanded pitch/roll angles, yaw or yaw rate, and altitude via joystick. Please note the ~external_command_frame and ~external_frame_heading parameters as they have a significant effect on the interpretation of joystick commands.

ROS API

control_mode_attitude

Parameters

~pitch_deadband (double, default: 0.05)

• joystick units, 0.1 = 10% of half-range

~roll_deadband (double, default: 0.05)

• joystick units, 0.1 = 10% of half-range

~yaw_deadband (double, default: 0.1)

• joystick units, 0.1 = 10% of half-range

~max_yaw_rate_cmd (double, default: 10.0)

• [deg/s] yaw rate corresponding to full deflection

~min_alt_cmd (double, default: 0.0)

• [m] commanded altitude corresponding to full - deflection

~max_alt_cmd (double, default: 1.5)

• [m] commanded altitude corresponding to full + deflection

~external_command_frame (bool, default: false)

• If true, joystick deflections are interpreted in a frame external to the vehicle. (See also ~external_frame_heading). If false, joystick deflections are interpreted in the vehicle body frame.

~external_frame_heading (double, default: 0)

• [deg] When ~external_command_frame is true, this value defines the direction in which the vehicle will fly in response to a negative pitch command (i.e. 'forward' on the joystick), irrespective of the yaw angle.

~direct_yaw_rate_control (bool, default: false)

• [deg] When ~external_command_frame is true, this value defines the direction in which the vehicle will fly in response to a negative pitch command (i.e. 'forward' on the joystick), irrespective of the yaw angle.