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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-14 16:49:06 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-28 18:25:35 +0100 |
| commit | 582c664a9c61e3b6cb4762e90ce437e5843c5d14 (patch) | |
| tree | 0a15ef057daaf72530338af6651d15aef8b73ad6 /src/platforms/ros/nodes/commander/commander.h | |
| parent | 01b8a18ad520a9d7bfecd3eea9a2e1dfc76b0ab1 (diff) | |
| download | px4-firmware-582c664a9c61e3b6cb4762e90ce437e5843c5d14.tar.gz px4-firmware-582c664a9c61e3b6cb4762e90ce437e5843c5d14.tar.bz2 px4-firmware-582c664a9c61e3b6cb4762e90ce437e5843c5d14.zip | |
ros: commander dummy node: set control flags in offboard mode
Diffstat (limited to 'src/platforms/ros/nodes/commander/commander.h')
| -rw-r--r-- | src/platforms/ros/nodes/commander/commander.h | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/platforms/ros/nodes/commander/commander.h b/src/platforms/ros/nodes/commander/commander.h index 58b7257b7..3152055ae 100644 --- a/src/platforms/ros/nodes/commander/commander.h +++ b/src/platforms/ros/nodes/commander/commander.h @@ -44,6 +44,7 @@ #include <px4/vehicle_status.h> #include <px4/parameter_update.h> #include <px4/actuator_armed.h> +#include <px4/offboard_control_mode.h> class Commander { @@ -59,6 +60,11 @@ protected: void ManualControlInputCallback(const px4::manual_control_setpointConstPtr &msg); /** + * Stores the offboard control mode + */ + void OffboardControlModeCallback(const px4::offboard_control_modeConstPtr &msg); + + /** * Set control mode flags based on stick positions (equiv to code in px4 commander) */ void EvalSwitches(const px4::manual_control_setpointConstPtr &msg, @@ -67,6 +73,7 @@ protected: ros::NodeHandle _n; ros::Subscriber _man_ctrl_sp_sub; + ros::Subscriber _offboard_control_mode_sub; ros::Publisher _vehicle_control_mode_pub; ros::Publisher _actuator_armed_pub; ros::Publisher _vehicle_status_pub; @@ -75,5 +82,6 @@ protected: px4::parameter_update _msg_parameter_update; px4::actuator_armed _msg_actuator_armed; px4::vehicle_control_mode _msg_vehicle_control_mode; + px4::offboard_control_mode _msg_offboard_control_mode; }; |