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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-07 22:33:29 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-07 22:33:29 +0200 |
| commit | 103b129f0d48bf84b6161a4b55cb8dd649b8c903 (patch) | |
| tree | 01dbb991f13d242d0a5a7fd3b3e2d2ad9a9cd95b /src/modules/mavlink/mavlink_receiver.h | |
| parent | 20e871439be1cada5a7c810f887a2495e7ff6308 (diff) | |
| parent | a23c2e3dd2bba016a63213ebc64378b40a2f5967 (diff) | |
| download | px4-firmware-103b129f0d48bf84b6161a4b55cb8dd649b8c903.tar.gz px4-firmware-103b129f0d48bf84b6161a4b55cb8dd649b8c903.tar.bz2 px4-firmware-103b129f0d48bf84b6161a4b55cb8dd649b8c903.zip | |
Merge pull request #1110 from PX4/offboard2_merge
Offboard2 merge
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.h')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.h | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 040a07480..65ef884a2 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> @@ -53,6 +55,7 @@ #include <uORB/topics/offboard_control_setpoint.h> #include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_local_position_setpoint.h> +#include <uORB/topics/vehicle_global_velocity_setpoint.h> #include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/vehicle_vicon_position.h> #include <uORB/topics/vehicle_attitude_setpoint.h> @@ -124,6 +127,7 @@ 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; @@ -138,12 +142,17 @@ private: orb_advert_t _cmd_pub; orb_advert_t _flow_pub; orb_advert_t _offboard_control_sp_pub; + orb_advert_t _local_pos_sp_pub; + orb_advert_t _global_vel_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; hrt_abstime _telemetry_heartbeat_time; bool _radio_status_available; + int _control_mode_sub; int _hil_frames; uint64_t _old_timestamp; bool _hil_local_proj_inited; |