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| author | Holger Steinhaus <holger@steinhaus-home.de> | 2014-11-03 18:47:07 +0100 |
|---|---|---|
| committer | Holger Steinhaus <holger@steinhaus-home.de> | 2014-11-03 20:23:22 +0100 |
| commit | 0800fa4715994921b6a0d15cd2c44b9e51417117 (patch) | |
| tree | 613c7e932a0ebb0dbd1738c504bf3a446ce7916e /src/modules/uavcan/uavcan_main.hpp | |
| parent | 58f36714f808c9d06527da1952d348201c4f7e72 (diff) | |
| download | px4-firmware-0800fa4715994921b6a0d15cd2c44b9e51417117.tar.gz px4-firmware-0800fa4715994921b6a0d15cd2c44b9e51417117.tar.bz2 px4-firmware-0800fa4715994921b6a0d15cd2c44b9e51417117.zip | |
UAVCAN: implemented motor testing
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 be7db9741..274321f0d 100644 --- a/src/modules/uavcan/uavcan_main.hpp +++ b/src/modules/uavcan/uavcan_main.hpp @@ -41,6 +41,7 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> +#include <uORB/topics/test_motor.h> #include "actuators/esc.hpp" #include "sensors/sensor_bridge.hpp" @@ -103,6 +104,10 @@ private: actuator_armed_s _armed; ///< the arming request of the system bool _is_armed = false; ///< the arming status of the actuators on the bus + int _test_motor_sub = -1; ///< uORB subscription of the test_motor status + test_motor_s _test_motor; + bool _test_in_progress = false; + unsigned _output_count = 0; ///< number of actuators currently available static UavcanNode *_instance; ///< singleton pointer |