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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-23 12:11:46 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-23 12:11:46 +0200 |
| commit | 705172d302b99df7ec3c4172c247c6136adbec88 (patch) | |
| tree | 9cf53a15a024ac1811cb36c86fa35004ab4db590 /apps/multirotor_att_control/multirotor_attitude_control.h | |
| parent | de530d6ba1fcbcaf65fc78ac8cca3286fa52d624 (diff) | |
| download | px4-firmware-705172d302b99df7ec3c4172c247c6136adbec88.tar.gz px4-firmware-705172d302b99df7ec3c4172c247c6136adbec88.tar.bz2 px4-firmware-705172d302b99df7ec3c4172c247c6136adbec88.zip | |
Untested, but fully implemented attitude and/or inner rate control
Diffstat (limited to 'apps/multirotor_att_control/multirotor_attitude_control.h')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_attitude_control.h | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.h b/apps/multirotor_att_control/multirotor_attitude_control.h index aa8d27369..d9d3c0444 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.h +++ b/apps/multirotor_att_control/multirotor_attitude_control.h @@ -48,9 +48,10 @@ #include <uORB/uORB.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/actuator_controls.h> -void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, - struct actuator_controls_s *actuators); +void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, + const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, struct actuator_controls_s *actuators); #endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */ |