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author | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-08 17:34:30 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-08 17:53:26 +0100 |
commit | 27f2eb8a16fc6915783276298ecf676b8649c1f8 (patch) | |
tree | 63411c44ccfaea2a096cdccaf3467ec3899874f2 /src/modules/mc_pos_control_multiplatform/mc_pos_control.h | |
parent | 893beb64a023d736d838a79b2f6ee54951dc2a65 (diff) | |
download | px4-firmware-27f2eb8a16fc6915783276298ecf676b8649c1f8.tar.gz px4-firmware-27f2eb8a16fc6915783276298ecf676b8649c1f8.tar.bz2 px4-firmware-27f2eb8a16fc6915783276298ecf676b8649c1f8.zip |
mc pos ctrl multiplatform use new param api
Diffstat (limited to 'src/modules/mc_pos_control_multiplatform/mc_pos_control.h')
-rw-r--r-- | src/modules/mc_pos_control_multiplatform/mc_pos_control.h | 35 |
1 files changed, 17 insertions, 18 deletions
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.h b/src/modules/mc_pos_control_multiplatform/mc_pos_control.h index 05bd1387b..245b5f5a9 100644 --- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.h +++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.h @@ -107,25 +107,24 @@ protected: px4::NodeHandle _n; - struct { - px4_param_t thr_min; - px4_param_t thr_max; - px4_param_t z_p; - px4_param_t z_vel_p; - px4_param_t z_vel_i; - px4_param_t z_vel_d; - px4_param_t z_vel_max; - px4_param_t z_ff; - px4_param_t xy_p; - px4_param_t xy_vel_p; - px4_param_t xy_vel_i; - px4_param_t xy_vel_d; - px4_param_t xy_vel_max; - px4_param_t xy_ff; - px4_param_t tilt_max_air; - px4_param_t land_speed; - px4_param_t tilt_max_land; + px4::ParameterFloat thr_min; + px4::ParameterFloat thr_max; + px4::ParameterFloat z_p; + px4::ParameterFloat z_vel_p; + px4::ParameterFloat z_vel_i; + px4::ParameterFloat z_vel_d; + px4::ParameterFloat z_vel_max; + px4::ParameterFloat z_ff; + px4::ParameterFloat xy_p; + px4::ParameterFloat xy_vel_p; + px4::ParameterFloat xy_vel_i; + px4::ParameterFloat xy_vel_d; + px4::ParameterFloat xy_vel_max; + px4::ParameterFloat xy_ff; + px4::ParameterFloat tilt_max_air; + px4::ParameterFloat land_speed; + px4::ParameterFloat tilt_max_land; } _params_handles; /**< handles for interesting parameters */ struct { |