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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-15 10:34:56 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-07-15 10:34:56 +0200 |
| commit | d0cca02e97a24cf0b9554cf429bbd5716f947e4e (patch) | |
| tree | d54ee6409670fd8f114303f8b6a76df5c35964e8 /src/modules/uORB | |
| parent | 7a064174110d827182820960b245031e0b4d42ab (diff) | |
| download | px4-firmware-d0cca02e97a24cf0b9554cf429bbd5716f947e4e.tar.gz px4-firmware-d0cca02e97a24cf0b9554cf429bbd5716f947e4e.tar.bz2 px4-firmware-d0cca02e97a24cf0b9554cf429bbd5716f947e4e.zip | |
add parsing of external attitude message
Diffstat (limited to 'src/modules/uORB')
| -rw-r--r-- | src/modules/uORB/topics/offboard_control_setpoint.h | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index 809412fc0..809a2ace4 100644 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -88,6 +88,7 @@ struct offboard_control_setpoint_s { float attitude_rate[3]; /**< body angular rates (x, y, z) */ uint16_t ignore; /**< if field i is set to true, pi should be ignored */ + //XXX define constants for bit offsets bool isForceSetpoint; /**< the acceleration vector should be interpreted as force */ float override_mode_switch; @@ -118,6 +119,11 @@ inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_s return (bool)(offboard_control_sp.ignore & (1 << (9 + index))); } +inline bool offboard_control_sp_ignore_attitude(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << 10)); +} + + /* register this as object request broker structure */ ORB_DECLARE(offboard_control_setpoint); |