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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-22 13:37:14 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-24 20:33:32 +0100 |
| commit | 61398f5c03ad8c894b4c3933adb0272dd9c7d8e6 (patch) | |
| tree | 5e245ef186d57259c39cb5310383653a8ee151c0 /src/modules/mc_pos_control_multiplatform/mc_pos_control.h | |
| parent | a56c16dfab948517007ad570d67f02dd4e2edb60 (diff) | |
| download | px4-firmware-61398f5c03ad8c894b4c3933adb0272dd9c7d8e6.tar.gz px4-firmware-61398f5c03ad8c894b4c3933adb0272dd9c7d8e6.tar.bz2 px4-firmware-61398f5c03ad8c894b4c3933adb0272dd9c7d8e6.zip | |
multiplatform port of #1741 and #1801: port attitude setpoint generation in manual to mc_pos_control_multiplatform
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 | 23 |
1 files changed, 12 insertions, 11 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 59b663b9f..54c6de155 100644 --- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.h +++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.h @@ -88,19 +88,18 @@ protected: Publisher<px4_vehicle_attitude_setpoint> *_att_sp_pub; /**< attitude setpoint publication */ Publisher<px4_vehicle_local_position_setpoint> *_local_pos_sp_pub; /**< vehicle local position setpoint publication */ - Publisher<px4_vehicle_global_velocity_setpoint> *_global_vel_sp_pub; /**< vehicle global velocity setpoint publication */ + Publisher<px4_vehicle_global_velocity_setpoint> *_global_vel_sp_pub; /**< vehicle global velocity setpoint publication */ - Subscriber<px4_vehicle_attitude> *_att; /**< vehicle attitude */ - Subscriber<px4_vehicle_attitude_setpoint> *_v_att_sp; /**< vehicle attitude setpoint */ - Subscriber<px4_vehicle_control_mode> *_control_mode; /**< vehicle control mode */ - Subscriber<px4_parameter_update> *_parameter_update; /**< parameter update */ - Subscriber<px4_manual_control_setpoint> *_manual_control_sp; /**< manual control setpoint */ - Subscriber<px4_actuator_armed> *_armed; /**< actuator arming status */ - Subscriber<px4_vehicle_local_position> *_local_pos; /**< local position */ - Subscriber<px4_position_setpoint_triplet> *_pos_sp_triplet; /**< local position */ - Subscriber<px4_vehicle_local_position_setpoint> *_local_pos_sp; /**< local position */ - Subscriber<px4_vehicle_global_velocity_setpoint> *_global_vel_sp; /**< local position */ + Subscriber<px4_vehicle_attitude> *_att; /**< vehicle attitude */ + Subscriber<px4_vehicle_control_mode> *_control_mode; /**< vehicle control mode */ + Subscriber<px4_parameter_update> *_parameter_update; /**< parameter update */ + Subscriber<px4_manual_control_setpoint> *_manual_control_sp; /**< manual control setpoint */ + Subscriber<px4_actuator_armed> *_armed; /**< actuator arming status */ + Subscriber<px4_vehicle_local_position> *_local_pos; /**< local position */ + Subscriber<px4_position_setpoint_triplet> *_pos_sp_triplet; /**< local position */ + Subscriber<px4_vehicle_local_position_setpoint> *_local_pos_sp; /**< local position */ + Subscriber<px4_vehicle_global_velocity_setpoint> *_global_vel_sp; /**< local position */ px4_vehicle_attitude_setpoint _att_sp_msg; px4_vehicle_local_position_setpoint _local_pos_sp_msg; @@ -129,6 +128,7 @@ protected: px4::ParameterFloat man_roll_max; px4::ParameterFloat man_pitch_max; px4::ParameterFloat man_yaw_max; + px4::ParameterFloat mc_att_yaw_p; // needed for calculating reasonable attitude setpoints in manual } _params_handles; /**< handles for interesting parameters */ struct { @@ -140,6 +140,7 @@ protected: float man_roll_max; float man_pitch_max; float man_yaw_max; + float mc_att_yaw_p; math::Vector<3> pos_p; math::Vector<3> vel_p; |