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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-04 15:46:53 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-04 15:46:53 +0200 |
commit | d72e9929aa7f3066c3c8c6a09df7a9690b3cdbc5 (patch) | |
tree | fc5468f1e05588c7733b2b371f1f485c21ad6d2d /src/modules/controllib/fixedwing.hpp | |
parent | b01673d1d8717b645747b7630382d666c6377c49 (diff) | |
download | px4-firmware-d72e9929aa7f3066c3c8c6a09df7a9690b3cdbc5.tar.gz px4-firmware-d72e9929aa7f3066c3c8c6a09df7a9690b3cdbc5.tar.bz2 px4-firmware-d72e9929aa7f3066c3c8c6a09df7a9690b3cdbc5.zip |
Fixes to fixed wing control example, fixes to the way the control lib publishes estimates
Diffstat (limited to 'src/modules/controllib/fixedwing.hpp')
-rw-r--r-- | src/modules/controllib/fixedwing.hpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/controllib/fixedwing.hpp b/src/modules/controllib/fixedwing.hpp index 53d0cf893..e4028c40d 100644 --- a/src/modules/controllib/fixedwing.hpp +++ b/src/modules/controllib/fixedwing.hpp @@ -43,7 +43,7 @@ #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_global_position_setpoint.h> +#include <uORB/topics/vehicle_global_position_set_triplet.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/actuator_controls.h> @@ -280,7 +280,7 @@ protected: UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd; UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd; UOrbSubscription<vehicle_global_position_s> _pos; - UOrbSubscription<vehicle_global_position_setpoint_s> _posCmd; + UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd; UOrbSubscription<manual_control_setpoint_s> _manual; UOrbSubscription<vehicle_status_s> _status; UOrbSubscription<parameter_update_s> _param_update; @@ -328,7 +328,7 @@ private: BlockParam<float> _crMax; struct pollfd _attPoll; - vehicle_global_position_setpoint_s _lastPosCmd; + vehicle_global_position_set_triplet_s _lastPosCmd; enum {CH_AIL, CH_ELV, CH_RDR, CH_THR}; uint64_t _timeStamp; public: |