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| author | Andrew Tridgell <tridge@samba.org> | 2014-11-20 09:37:02 +1100 |
|---|---|---|
| committer | Andrew Tridgell <tridge@samba.org> | 2014-11-26 08:32:46 +1100 |
| commit | b830137ec8492dc583b61689b7d56a1b359a5c5b (patch) | |
| tree | 97f775057ad69b8bcc276d070dbc0ba9796ed7d1 /src/modules/uavcan/uavcan_main.hpp | |
| parent | f6b0a3e07f27f34af6e6d209aec761374611e968 (diff) | |
| download | px4-firmware-b830137ec8492dc583b61689b7d56a1b359a5c5b.tar.gz px4-firmware-b830137ec8492dc583b61689b7d56a1b359a5c5b.tar.bz2 px4-firmware-b830137ec8492dc583b61689b7d56a1b359a5c5b.zip | |
uavcan: added support for actuator_direct ORB topic
this watches the actuator_direct topic and uses it to allow for direct
output of actuator values, bypassing the mixer
Diffstat (limited to 'src/modules/uavcan/uavcan_main.hpp')
| -rw-r--r-- | src/modules/uavcan/uavcan_main.hpp | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp index b791663d4..d7eb16764 100644 --- a/src/modules/uavcan/uavcan_main.hpp +++ b/src/modules/uavcan/uavcan_main.hpp @@ -42,6 +42,7 @@ #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> #include <uORB/topics/test_motor.h> +#include <uORB/topics/actuator_direct.h> #include "actuators/esc.hpp" #include "sensors/sensor_bridge.hpp" @@ -128,6 +129,10 @@ private: pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN + 1] = {}; ///< +1 for /dev/uavcan/busevent unsigned _poll_fds_num = 0; + int _actuator_direct_sub = -1; ///< uORB subscription of the actuator_direct topic + uint8_t _actuator_direct_poll_fd_num; + actuator_direct_s _actuator_direct; + // index into _poll_fds for each _control_subs handle uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN]; }; |