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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-21 11:14:06 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-21 11:14:06 +0200 |
| commit | 78637ff74b4c12edca0fac9ea8eb65f38993b49f (patch) | |
| tree | 6f505f08ae106b67ddd6722240a41b09be00d39e /src/modules/mavlink/mavlink_receiver.h | |
| parent | 950571eaf6b67344b0c46287c45f06e8f85e8ece (diff) | |
| download | px4-firmware-78637ff74b4c12edca0fac9ea8eb65f38993b49f.tar.gz px4-firmware-78637ff74b4c12edca0fac9ea8eb65f38993b49f.tar.bz2 px4-firmware-78637ff74b4c12edca0fac9ea8eb65f38993b49f.zip | |
mavlink: publish attitude / rates setpoint in offboard control mode
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.h')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.h | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 9ab84b58a..dc31b4c5a 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -36,6 +36,7 @@ * MAVLink 1.0 uORB listener definition * * @author Lorenz Meier <lm@inf.ethz.ch> + * @author Anton Babushkin <anton.babushkin@me.com> */ #pragma once @@ -44,6 +45,7 @@ #include <uORB/uORB.h> #include <uORB/topics/sensor_combined.h> #include <uORB/topics/rc_channels.h> +#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_global_position.h> @@ -120,6 +122,7 @@ private: mavlink_status_t status; struct vehicle_local_position_s hil_local_pos; + struct vehicle_control_mode_s _control_mode; orb_advert_t _global_pos_pub; orb_advert_t _local_pos_pub; orb_advert_t _attitude_pub; @@ -134,10 +137,14 @@ private: orb_advert_t _cmd_pub; orb_advert_t _flow_pub; orb_advert_t _offboard_control_sp_pub; + orb_advert_t _att_sp_pub; + orb_advert_t _rates_sp_pub; orb_advert_t _vicon_position_pub; orb_advert_t _telemetry_status_pub; orb_advert_t _rc_pub; orb_advert_t _manual_pub; + + int _control_mode_sub; int _hil_frames; uint64_t _old_timestamp; bool _hil_local_proj_inited; |