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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-26 09:29:55 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-26 09:29:55 +0200 |
| commit | 943463391241cdad88cc169d9cedbb5cb4cddf47 (patch) | |
| tree | c56579fe413d9743397acf3e253a962b59ecd8f5 /src/modules/uavcan/uavcan_main.hpp | |
| parent | 8f2fa6da25ffcb83b27e732e4d22b845a652500f (diff) | |
| parent | 19fa79dcb1b3b34176341b3edb7187b6bb117aff (diff) | |
| download | px4-firmware-943463391241cdad88cc169d9cedbb5cb4cddf47.tar.gz px4-firmware-943463391241cdad88cc169d9cedbb5cb4cddf47.tar.bz2 px4-firmware-943463391241cdad88cc169d9cedbb5cb4cddf47.zip | |
Merged upstream/master
Diffstat (limited to 'src/modules/uavcan/uavcan_main.hpp')
| -rw-r--r-- | src/modules/uavcan/uavcan_main.hpp | 17 |
1 files changed, 9 insertions, 8 deletions
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp index 05b66fd7b..be7db9741 100644 --- a/src/modules/uavcan/uavcan_main.hpp +++ b/src/modules/uavcan/uavcan_main.hpp @@ -42,8 +42,8 @@ #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> -#include "esc_controller.hpp" -#include "gnss_receiver.hpp" +#include "actuators/esc.hpp" +#include "sensors/sensor_bridge.hpp" /** * @file uavcan_main.hpp @@ -77,12 +77,10 @@ public: static int start(uavcan::NodeID node_id, uint32_t bitrate); - Node& getNode() { return _node; } + Node& get_node() { return _node; } - static int control_callback(uintptr_t handle, - uint8_t control_group, - uint8_t control_index, - float &input); + // TODO: move the actuator mixing stuff into the ESC controller class + static int control_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &input); void subscribe(); @@ -109,8 +107,11 @@ private: static UavcanNode *_instance; ///< singleton pointer Node _node; ///< library instance + pthread_mutex_t _node_mutex; + UavcanEscController _esc_controller; - UavcanGnssReceiver _gnss_receiver; + + List<IUavcanSensorBridge*> _sensor_bridges; ///< List of active sensor bridges MixerGroup *_mixers = nullptr; |