diff options
author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-25 15:32:40 +0100 |
---|---|---|
committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-25 15:32:40 +0100 |
commit | cd35ab26610650d93120d3a9eabd196a733c2e44 (patch) | |
tree | 8d65f136dd8d86b3087e69cf97e6040b4447c47f /src/examples/fixedwing_control | |
parent | 7634147c0f9bb1ee27464d678394f22339b5ce00 (diff) | |
download | px4-firmware-cd35ab26610650d93120d3a9eabd196a733c2e44.tar.gz px4-firmware-cd35ab26610650d93120d3a9eabd196a733c2e44.tar.bz2 px4-firmware-cd35ab26610650d93120d3a9eabd196a733c2e44.zip |
add another set of uorb headers
Diffstat (limited to 'src/examples/fixedwing_control')
-rw-r--r-- | src/examples/fixedwing_control/main.c | 20 |
1 files changed, 12 insertions, 8 deletions
diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c index fcbb54c8e..d8b777b91 100644 --- a/src/examples/fixedwing_control/main.c +++ b/src/examples/fixedwing_control/main.c @@ -61,6 +61,10 @@ #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_controls_0.h> +#include <uORB/topics/actuator_controls_1.h> +#include <uORB/topics/actuator_controls_2.h> +#include <uORB/topics/actuator_controls_3.h> #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/parameter_update.h> @@ -108,7 +112,7 @@ static void usage(const char *reason); * @param att The current attitude. The controller should make the attitude match the setpoint * @param rates_sp The angular rate setpoint. This is the output of the controller. */ -void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, +void 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); /** @@ -133,18 +137,18 @@ static int deamon_task; /**< Handle of deamon task / thread */ static struct params p; static struct param_handles ph; -void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, +void 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) { - /* + /* * The PX4 architecture provides a mixer outside of the controller. * The mixer is fed with a default vector of actuator controls, representing * moments applied to the vehicle frame. This vector * is structured as: * * Control Group 0 (attitude): - * + * * 0 - roll (-1..+1) * 1 - pitch (-1..+1) * 2 - yaw (-1..+1) @@ -226,7 +230,7 @@ int fixedwing_control_thread_main(int argc, char *argv[]) * * Wikipedia description: * http://en.wikipedia.org/wiki/Publish–subscribe_pattern - * + * */ @@ -234,7 +238,7 @@ int fixedwing_control_thread_main(int argc, char *argv[]) /* * Declare and safely initialize all structs to zero. - * + * * These structs contain the system state and things * like attitude, position, the current waypoint, etc. */ @@ -300,7 +304,7 @@ int fixedwing_control_thread_main(int argc, char *argv[]) if (ret < 0) { /* * Poll error, this will not really happen in practice, - * but its good design practice to make output an error message. + * but its good design practice to make output an error message. */ warnx("poll error"); @@ -340,7 +344,7 @@ int fixedwing_control_thread_main(int argc, char *argv[]) } if (manual_sp_updated) - /* get the RC (or otherwise user based) input */ + /* get the RC (or otherwise user based) input */ orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp); /* check if the throttle was ever more than 50% - go later only to failsafe if yes */ |