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| author | Andrew Tridgell <tridge@samba.org> | 2014-11-20 17:02:24 +1100 |
|---|---|---|
| committer | Andrew Tridgell <tridge@samba.org> | 2014-11-26 08:32:47 +1100 |
| commit | 724ec0ec8b0d34c631b2784236a990e535700254 (patch) | |
| tree | 905c6cadc4aa3dda95985c17ea1bccf7a6259729 /src/modules/uavcan/uavcan_main.hpp | |
| parent | 8e44ec2e3bd6852b74e4463c373555dd1bab47d3 (diff) | |
| download | px4-firmware-724ec0ec8b0d34c631b2784236a990e535700254.tar.gz px4-firmware-724ec0ec8b0d34c631b2784236a990e535700254.tar.bz2 px4-firmware-724ec0ec8b0d34c631b2784236a990e535700254.zip | |
uavcan: handle all ESC output in one place
moving all the ESC output handling to one place allows the limits on
actuator values to apply to all types of inputs, and will make it
easier to expand "uavcan status" to show actuator values
Diffstat (limited to 'src/modules/uavcan/uavcan_main.hpp')
| -rw-r--r-- | src/modules/uavcan/uavcan_main.hpp | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp index d7eb16764..5a036fcd7 100644 --- a/src/modules/uavcan/uavcan_main.hpp +++ b/src/modules/uavcan/uavcan_main.hpp @@ -133,6 +133,8 @@ private: uint8_t _actuator_direct_poll_fd_num; actuator_direct_s _actuator_direct; + actuator_outputs_s _outputs; + // index into _poll_fds for each _control_subs handle uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN]; }; |