let example fail wit 3 subscribers

3 files changed, 21 insertions, 3 deletions

diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk
index c04edb8bb..48c3b64ff 100644
--- a/makefiles/config_px4fmu-v2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -56,9 +56,9 @@ MODULES		+= systemcmds/ver
 # Example modules
 #
 MODULES		+= examples/matlab_csv_serial
-# MODULES		+= examples/subscriber
-# MODULES		+= examples/publisher
-MODULES		+= modules/mc_att_control_multiplatform
+MODULES		+= examples/subscriber
+MODULES		+= examples/publisher
+# MODULES		+= modules/mc_att_control_multiplatform
 
 #
 # Library modules
diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp
index ed119dd13..533c4e413 100644
--- a/src/examples/subscriber/subscriber_example.cpp
+++ b/src/examples/subscriber/subscriber_example.cpp
@@ -71,6 +71,12 @@ SubscriberExample::SubscriberExample() :
 	/* Class Method */
 	_n.subscribe<px4_rc_channels>(std::bind(&SubscriberExample::rc_channels_callback, this, std::placeholders::_1), 1000);
 
+/* Class Method 2 */
+	_n.subscribe<px4_vehicle_attitude>(std::bind(&SubscriberExample::vehicle_attitude_callback, this, std::placeholders::_1), 1000);
+
+	/* Class Method 3 */
+	// _n.subscribe<px4_vehicle_rates_setpoint>(std::bind(&SubscriberExample::vehicle_rates_setpoint_callback, this, std::placeholders::_1), 1000);
+
 	PX4_INFO("subscribed");
 }
 
@@ -84,3 +90,13 @@ void SubscriberExample::rc_channels_callback(const px4_rc_channels &msg) {
 	PX4_INFO("Callback (method): value of _sub_rc_chan: [%llu]",
 			_sub_rc_chan->data().timestamp_last_valid);
 }
+
+void SubscriberExample::vehicle_attitude_callback(const px4_vehicle_attitude &msg) {
+	PX4_INFO("Callback (method): [%llu]",
+			msg.data().timestamp);
+}
+
+void SubscriberExample::vehicle_rates_setpoint_callback(const px4_vehicle_rates_setpoint &msg) {
+	PX4_INFO("Callback (method): [%llu]",
+			msg.data().timestamp);
+}
diff --git a/src/examples/subscriber/subscriber_example.h b/src/examples/subscriber/subscriber_example.h
index 8da3df438..cdc368e87 100644
--- a/src/examples/subscriber/subscriber_example.h
+++ b/src/examples/subscriber/subscriber_example.h
@@ -59,6 +59,8 @@ protected:
 	px4::Subscriber<px4_rc_channels> * _sub_rc_chan;
 
 	void rc_channels_callback(const px4_rc_channels &msg);
+	void vehicle_attitude_callback(const px4_vehicle_attitude &msg);
+	void vehicle_rates_setpoint_callback(const px4_vehicle_rates_setpoint &msg);
 
 
 };