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will now only read rosparams for writeable drone parameters
1 parent 0dc6a2a commit 3ec0db0

2 files changed

Lines changed: 16 additions & 12 deletions

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‎src/ardrone_driver.cpp‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -195,8 +195,8 @@ void ARDroneDriver::configureDrone()
195195

196196
// firstly we send the CAT_COMMON parameters, for example outdoor, as these settings can affect where the other parameters are stored
197197
#define ARDRONE_CONFIG_KEY_REF_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) //do nothing for reference-only parameters
198-
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY==CAT_COMMON) SEND_PARAM_NUM(NAME,CATEGORY,DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
199-
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY==CAT_COMMON) SEND_PARAM_STR(NAME,CATEGORY,DEFAULT) }
198+
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY==CAT_COMMON && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) SEND_PARAM_NUM(NAME,CATEGORY,DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
199+
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY==CAT_COMMON && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) SEND_PARAM_STR(NAME,CATEGORY,DEFAULT) }
200200

201201
#include <config_keys.h> // include the parameter definitions, which will be replaced by the above
202202

@@ -205,8 +205,8 @@ void ARDroneDriver::configureDrone()
205205

206206
// then we send the rest of the parameters. The problem is if we send euler_angle_max (for example) before sending outdoor, it will get written to the wrong parameter
207207
// (indoor_ not outdoor_euler_angle_max) and then will be overwritten by the default when changing state from indoor to outdoor, so we need to send common parameters first.
208-
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY!=CAT_COMMON) SEND_PARAM_NUM(NAME,CATEGORY,DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
209-
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY!=CAT_COMMON) SEND_PARAM_STR(NAME,CATEGORY,DEFAULT) }
208+
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY!=CAT_COMMON && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) SEND_PARAM_NUM(NAME,CATEGORY,DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
209+
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && CATEGORY!=CAT_COMMON && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) SEND_PARAM_STR(NAME,CATEGORY,DEFAULT) }
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211211
#include <config_keys.h> // include the parameter definitions, which will be replaced by the above
212212

‎src/ardrone_sdk.cpp‎

Lines changed: 12 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -89,28 +89,32 @@ extern "C" {
8989
#undef LOAD_PARAM_STR
9090
#undef LOAD_PARAM_NUM
9191

92-
#define LOAD_PARAM_NUM(NAME,C_TYPE) \
93-
{ double param; \
92+
#define LOAD_PARAM_NUM(NAME,C_TYPE,DEFAULT) \
93+
{ \
94+
double param; \
95+
ROS_DEBUG("CHECK: "#NAME); \
9496
if(ros::param::get("~"#NAME,param)) \
9597
{ \
9698
ardrone_application_default_config.NAME = (C_TYPE)param; \
97-
ROS_DEBUG("SET: "#NAME" = %f", (float)ardrone_application_default_config.NAME); \
99+
ROS_DEBUG("SET: "#NAME" = %f (DEFAULT = %f)", (float)ardrone_application_default_config.NAME, (float)DEFAULT); \
98100
} \
99101
}
100102

101-
#define LOAD_PARAM_STR(NAME) \
102-
{ std::string param; \
103+
#define LOAD_PARAM_STR(NAME,DEFAULT) \
104+
{ \
105+
std::string param; \
106+
ROS_DEBUG("CHECK: "#NAME); \
103107
if(ros::param::get("~"#NAME,param)) \
104108
{ \
105109
param = param.substr(0,STRING_T_SIZE-1); \
106110
strcpy(ardrone_application_default_config.NAME , param.c_str()); \
107-
ROS_DEBUG("SET: "#NAME" = %s", ardrone_application_default_config.NAME); \
111+
ROS_DEBUG("SET: "#NAME" = %s (DEFAULT = %s)", ardrone_application_default_config.NAME, DEFAULT); \
108112
} \
109113
}
110114

111115
#define ARDRONE_CONFIG_KEY_REF_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) //do nothing for reference-only parameters
112-
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom")) LOAD_PARAM_NUM(NAME,C_TYPE) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
113-
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom")) LOAD_PARAM_STR(NAME) }
116+
#define ARDRONE_CONFIG_KEY_IMM_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) LOAD_PARAM_NUM(NAME,C_TYPE, DEFAULT) } // parameters under the custom key are for control of application/user/session, we don't want to change these!
117+
#define ARDRONE_CONFIG_KEY_STR_a10(KEY, NAME, INI_TYPE, C_TYPE, C_TYPE_PTR, RW, RW_CUSTOM, DEFAULT, CALLBACK, CATEGORY) { if(0!=strcmp(KEY,"custom") && ((RW & K_WRITE) != 0 || (RW_CUSTOM & K_WRITE) != 0)) LOAD_PARAM_STR(NAME, DEFAULT) }
114118

115119
#include <config_keys.h> // include the parameter definitions, which will be replaced by the above
116120

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