extend subscriber/publisher example

2 files changed, 22 insertions, 5 deletions

diff --git a/src/examples/publisher/publisher_example.cpp b/src/examples/publisher/publisher_example.cpp
index 9952a16e4..e7ab9eb5a 100644
--- a/src/examples/publisher/publisher_example.cpp
+++ b/src/examples/publisher/publisher_example.cpp
@@ -45,7 +45,9 @@ using namespace px4;
 
 PublisherExample::PublisherExample() :
 	_n(),
-	_rc_channels_pub(_n.advertise<px4_rc_channels>())
+	_rc_channels_pub(_n.advertise<px4_rc_channels>()),
+	_v_att_pub(_n.advertise<px4_vehicle_attitude>()),
+	_parameter_update_pub(_n.advertise<px4_parameter_update>())
 {
 }
 
@@ -57,10 +59,23 @@ int PublisherExample::main()
 		loop_rate.sleep();
 		_n.spinOnce();
 
-		px4_rc_channels msg;
-		msg.data().timestamp_last_valid = px4::get_time_micros();
-		PX4_INFO("%llu", msg.data().timestamp_last_valid);
-		_rc_channels_pub->publish(msg);
+		/* Publish example message */
+		px4_rc_channels rc_channels_msg;
+		rc_channels_msg.data().timestamp_last_valid = px4::get_time_micros();
+		PX4_INFO("rc: %llu", rc_channels_msg.data().timestamp_last_valid);
+		_rc_channels_pub->publish(rc_channels_msg);
+
+		/* Publish example message */
+		px4_vehicle_attitude v_att_msg;
+		v_att_msg.data().timestamp = px4::get_time_micros();
+		PX4_INFO("att: %llu", v_att_msg.data().timestamp);
+		_v_att_pub->publish(v_att_msg);
+
+		/* Publish example message */
+		px4_parameter_update parameter_update_msg;
+		parameter_update_msg.data().timestamp = px4::get_time_micros();
+		PX4_INFO("param update: %llu", parameter_update_msg.data().timestamp);
+		_parameter_update_pub->publish(parameter_update_msg);
 
 	}
 
diff --git a/src/examples/publisher/publisher_example.h b/src/examples/publisher/publisher_example.h
index 4ff59a226..8165b0ffc 100644
--- a/src/examples/publisher/publisher_example.h
+++ b/src/examples/publisher/publisher_example.h
@@ -50,4 +50,6 @@ public:
 protected:
 	px4::NodeHandle _n;
 	px4::Publisher<px4::px4_rc_channels> * _rc_channels_pub;
+	px4::Publisher<px4::px4_vehicle_attitude> * _v_att_pub;
+	px4::Publisher<px4::px4_parameter_update> * _parameter_update_pub;
 };