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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-23 12:06:46 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-23 12:06:46 +0100 |
| commit | 461e9889b334865f1eec0c1d7a20067ff5a647ea (patch) | |
| tree | 2ebcd3c57679153676a6674f60911c28f40c6031 /src/modules/uavcan/uavcan_main.hpp | |
| parent | 4030b20de7921d5e9673ce18215f76f0820c1ec7 (diff) | |
| parent | 138c25ec74f08db6f6759053d0200058a794c196 (diff) | |
| download | px4-firmware-461e9889b334865f1eec0c1d7a20067ff5a647ea.tar.gz px4-firmware-461e9889b334865f1eec0c1d7a20067ff5a647ea.tar.bz2 px4-firmware-461e9889b334865f1eec0c1d7a20067ff5a647ea.zip | |
Merged master
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 |