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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-29 13:38:39 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-29 13:39:31 +0100 |
| commit | 5237364a5a6a5e765bbb30cb20eb399dcd14489a (patch) | |
| tree | a7fb721b98ad1f2a7fdbdba591b672e9a16fb40c /src/platforms/ros/nodes/commander/commander.h | |
| parent | 3c79b2a586286615ef00e1584c7c2f74887e38cd (diff) | |
| download | px4-firmware-5237364a5a6a5e765bbb30cb20eb399dcd14489a.tar.gz px4-firmware-5237364a5a6a5e765bbb30cb20eb399dcd14489a.tar.bz2 px4-firmware-5237364a5a6a5e765bbb30cb20eb399dcd14489a.zip | |
commander dummy node: extend to support switching between modes
Diffstat (limited to 'src/platforms/ros/nodes/commander/commander.h')
| -rw-r--r-- | src/platforms/ros/nodes/commander/commander.h | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/src/platforms/ros/nodes/commander/commander.h b/src/platforms/ros/nodes/commander/commander.h index bd4092b3a..f251f7c1a 100644 --- a/src/platforms/ros/nodes/commander/commander.h +++ b/src/platforms/ros/nodes/commander/commander.h @@ -40,6 +40,8 @@ #include "ros/ros.h" #include <px4/manual_control_setpoint.h> +#include <px4/vehicle_control_mode.h> +#include <px4/vehicle_status.h> #include <px4/parameter_update.h> #include <px4/actuator_armed.h> @@ -56,6 +58,13 @@ protected: */ void ManualControlInputCallback(const px4::manual_control_setpointConstPtr &msg); + /** + * Set control mode flags based on stick positions (equiv to code in px4 commander) + */ + void EvalSwitches(const px4::manual_control_setpointConstPtr &msg, + px4::vehicle_status &msg_vehicle_status, + px4::vehicle_control_mode &msg_vehicle_control_mode); + ros::NodeHandle _n; ros::Subscriber _man_ctrl_sp_sub; ros::Publisher _vehicle_control_mode_pub; |