add another set of uorb headers

3 files changed, 24 insertions, 15 deletions

diff --git a/src/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp
index eb9453b50..5b945e452 100644
--- a/src/drivers/roboclaw/RoboClaw.cpp
+++ b/src/drivers/roboclaw/RoboClaw.cpp
@@ -54,6 +54,7 @@
 #include <mavlink/mavlink_log.h>
 
 #include <uORB/Publication.hpp>
+#include <uORB/topics/actuator_controls_0.h>
 #include <uORB/topics/debug_key_value.h>
 #include <drivers/drv_hrt.h>
 
@@ -114,7 +115,7 @@ int RoboClaw::readEncoder(e_motor motor)
 	uint8_t rbuf[50];
 	usleep(5000);
 	int nread = read(_uart, rbuf, 50);
-	if (nread < 6) { 
+	if (nread < 6) {
 		printf("failed to read\n");
 		return -1;
 	}
@@ -131,7 +132,7 @@ int RoboClaw::readEncoder(e_motor motor)
 	countBytes[0] = rbuf[3];
 	uint8_t status = rbuf[4];
 	uint8_t checksum = rbuf[5];
-	uint8_t checksum_computed = (sum + _sumBytes(rbuf, 5)) & 
+	uint8_t checksum_computed = (sum + _sumBytes(rbuf, 5)) &
 		checksum_mask;
 	// check if checksum is valid
 	if (checksum != checksum_computed) {
@@ -156,11 +157,11 @@ int RoboClaw::readEncoder(e_motor motor)
 	static int64_t overflowAmount = 0x100000000LL;
 	if (motor == MOTOR_1) {
 		_motor1Overflow += overFlow;
-		_motor1Position = float(int64_t(count) + 
+		_motor1Position = float(int64_t(count) +
 			_motor1Overflow*overflowAmount)/_pulsesPerRev;
 	} else if (motor == MOTOR_2) {
 		_motor2Overflow += overFlow;
-		_motor2Position = float(int64_t(count) + 
+		_motor2Position = float(int64_t(count) +
 			_motor2Overflow*overflowAmount)/_pulsesPerRev;
 	}
 	return 0;
@@ -242,7 +243,7 @@ int RoboClaw::setMotorDutyCycle(e_motor motor, float value)
 	return -1;
 }
 
-int RoboClaw::resetEncoders() 
+int RoboClaw::resetEncoders()
 {
 	uint16_t sum = 0;
 	return _sendCommand(CMD_RESET_ENCODERS,
@@ -278,7 +279,7 @@ uint16_t RoboClaw::_sumBytes(uint8_t * buf, size_t n)
 	return sum;
 }
 
-int RoboClaw::_sendCommand(e_command cmd, uint8_t * data, 
+int RoboClaw::_sendCommand(e_command cmd, uint8_t * data,
 		size_t n_data, uint16_t & prev_sum)
 {
 	tcflush(_uart, TCIOFLUSH); // flush  buffers
@@ -299,7 +300,7 @@ int RoboClaw::_sendCommand(e_command cmd, uint8_t * data,
 	return write(_uart, buf, n_data + 3);
 }
 
-int roboclawTest(const char *deviceName, uint8_t address, 
+int roboclawTest(const char *deviceName, uint8_t address,
 		uint16_t pulsesPerRev)
 {
 	printf("roboclaw test: starting\n");
diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c
index fcbb54c8e..d8b777b91 100644
--- a/src/examples/fixedwing_control/main.c
+++ b/src/examples/fixedwing_control/main.c
@@ -61,6 +61,10 @@
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_0.h>
+#include <uORB/topics/actuator_controls_1.h>
+#include <uORB/topics/actuator_controls_2.h>
+#include <uORB/topics/actuator_controls_3.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/parameter_update.h>
@@ -108,7 +112,7 @@ static void usage(const char *reason);
  * @param att The current attitude. The controller should make the attitude match the setpoint
  * @param rates_sp The angular rate setpoint. This is the output of the controller.
  */
-void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, 
+void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp,
 	struct actuator_controls_s *actuators);
 
 /**
@@ -133,18 +137,18 @@ static int deamon_task;				/**< Handle of deamon task / thread */
 static struct params p;
 static struct param_handles ph;
 
-void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp, 
+void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp,
 	struct actuator_controls_s *actuators)
 {
 
-	/* 
+	/*
 	 * The PX4 architecture provides a mixer outside of the controller.
 	 * The mixer is fed with a default vector of actuator controls, representing
 	 * moments applied to the vehicle frame. This vector
 	 * is structured as:
 	 *
 	 * Control Group 0 (attitude):
-	 * 
+	 *
 	 *    0  -  roll   (-1..+1)
 	 *    1  -  pitch  (-1..+1)
 	 *    2  -  yaw    (-1..+1)
@@ -226,7 +230,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 	 *
 	 * Wikipedia description:
 	 * http://en.wikipedia.org/wiki/Publish–subscribe_pattern
-	 * 
+	 *
 	 */
 
 
@@ -234,7 +238,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 
 	/*
 	 * Declare and safely initialize all structs to zero.
-	 * 
+	 *
 	 * These structs contain the system state and things
 	 * like attitude, position, the current waypoint, etc.
 	 */
@@ -300,7 +304,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 		if (ret < 0) {
 			/*
 			 * Poll error, this will not really happen in practice,
-			 * but its good design practice to make output an error message. 
+			 * but its good design practice to make output an error message.
 			 */
 			warnx("poll error");
 
@@ -340,7 +344,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
 				}
 
 				if (manual_sp_updated)
-					/* get the RC (or otherwise user based) input */ 
+					/* get the RC (or otherwise user based) input */
 					orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
 
 				/* check if the throttle was ever more than 50% - go later only to failsafe if yes */
diff --git a/src/examples/hwtest/hwtest.c b/src/examples/hwtest/hwtest.c
index 95ff346bb..8fd8870da 100644
--- a/src/examples/hwtest/hwtest.c
+++ b/src/examples/hwtest/hwtest.c
@@ -47,6 +47,10 @@
 #include <systemlib/err.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_0.h>
+#include <uORB/topics/actuator_controls_1.h>
+#include <uORB/topics/actuator_controls_2.h>
+#include <uORB/topics/actuator_controls_3.h>
 #include <uORB/uORB.h>
 
 __EXPORT int ex_hwtest_main(int argc, char *argv[]);