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| author | James Goppert <james.goppert@gmail.com> | 2013-07-28 22:27:05 -0400 |
|---|---|---|
| committer | James Goppert <james.goppert@gmail.com> | 2013-07-28 22:27:05 -0400 |
| commit | dc542b2a4818bfc1c3c1cd24c5ee513d5b5ea0c4 (patch) | |
| tree | a3a3715da3a9bac871241df71a79d7687b862e3f /src/modules/controllib/uorb/blocks.hpp | |
| parent | 1980d9dd63e29390f7c3ba9b31be576c07706f73 (diff) | |
| download | px4-firmware-dc542b2a4818bfc1c3c1cd24c5ee513d5b5ea0c4.tar.gz px4-firmware-dc542b2a4818bfc1c3c1cd24c5ee513d5b5ea0c4.tar.bz2 px4-firmware-dc542b2a4818bfc1c3c1cd24c5ee513d5b5ea0c4.zip | |
Segway stabilized.
Diffstat (limited to 'src/modules/controllib/uorb/blocks.hpp')
| -rw-r--r-- | src/modules/controllib/uorb/blocks.hpp | 23 |
1 files changed, 23 insertions, 0 deletions
diff --git a/src/modules/controllib/uorb/blocks.hpp b/src/modules/controllib/uorb/blocks.hpp index 54f31735c..9c0720aa5 100644 --- a/src/modules/controllib/uorb/blocks.hpp +++ b/src/modules/controllib/uorb/blocks.hpp @@ -57,6 +57,10 @@ #include <drivers/drv_hrt.h> #include <poll.h> +extern "C" { +#include <systemlib/geo/geo.h> +} + #include "../blocks.hpp" #include "UOrbSubscription.hpp" #include "UOrbPublication.hpp" @@ -65,6 +69,25 @@ namespace control { /** + * Waypoint Guidance block + */ +class __EXPORT BlockWaypointGuidance : public SuperBlock +{ +private: + BlockLimitSym _xtYawLimit; + BlockP _xt2Yaw; + float _psiCmd; +public: + BlockWaypointGuidance(SuperBlock *parent, const char *name); + virtual ~BlockWaypointGuidance(); + void update(vehicle_global_position_s &pos, + vehicle_attitude_s &att, + vehicle_global_position_setpoint_s &posCmd, + vehicle_global_position_setpoint_s &lastPosCmd); + float getPsiCmd() { return _psiCmd; } +}; + +/** * UorbEnabledAutopilot */ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock |