Added actuator controls effective topic

1 files changed, 8 insertions, 0 deletions

diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp
index c2e82aad9..dbee15050 100644
--- a/apps/uORB/objects_common.cpp
+++ b/apps/uORB/objects_common.cpp
@@ -113,6 +113,7 @@ ORB_DEFINE(optical_flow, struct optical_flow_s);
 #include "topics/subsystem_info.h"
 ORB_DEFINE(subsystem_info, struct subsystem_info_s);
 
+/* actuator controls, as requested by controller */
 #include "topics/actuator_controls.h"
 ORB_DEFINE(actuator_controls_0, struct actuator_controls_s);
 ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
@@ -120,6 +121,13 @@ ORB_DEFINE(actuator_controls_2, struct actuator_controls_s);
 ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
 ORB_DEFINE(actuator_armed, struct actuator_armed_s);
 
+/* actuator controls, as set by actuators / mixers after limiting */
+#include "topics/actuator_controls_effective.h"
+ORB_DEFINE(actuator_controls_effective_0, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_1, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_2, struct actuator_controls_effective_s);
+ORB_DEFINE(actuator_controls_effective_3, struct actuator_controls_effective_s);
+
 #include "topics/actuator_outputs.h"
 ORB_DEFINE(actuator_outputs_0, struct actuator_outputs_s);
 ORB_DEFINE(actuator_outputs_1, struct actuator_outputs_s);