diff options
| -rw-r--r-- | CMakeLists.txt | 1 | ||||
| -rw-r--r-- | msg/mc_virtual_rates_setpoint.msg | 6 | ||||
| -rw-r--r-- | src/platforms/px4_includes.h | 2 |
3 files changed, 9 insertions, 0 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index dfcbd4adc..519afa0e2 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -58,6 +58,7 @@ add_message_files( actuator_controls_0.msg actuator_controls_virtual_mc.msg vehicle_rates_setpoint.msg + mc_virtual_rates_setpoint.msg vehicle_attitude.msg vehicle_control_mode.msg actuator_armed.msg diff --git a/msg/mc_virtual_rates_setpoint.msg b/msg/mc_virtual_rates_setpoint.msg new file mode 100644 index 000000000..834113c79 --- /dev/null +++ b/msg/mc_virtual_rates_setpoint.msg @@ -0,0 +1,6 @@ +uint64 timestamp # in microseconds since system start + +float32 roll # body angular rates in NED frame +float32 pitch # body angular rates in NED frame +float32 yaw # body angular rates in NED frame +float32 thrust # thrust normalized to 0..1 diff --git a/src/platforms/px4_includes.h b/src/platforms/px4_includes.h index 9c8c24764..4d29bc3cd 100644 --- a/src/platforms/px4_includes.h +++ b/src/platforms/px4_includes.h @@ -54,7 +54,9 @@ #include <px4/manual_control_setpoint.h> #include <px4/actuator_controls.h> #include <px4/actuator_controls_0.h> +#include <px4/actuator_controls_virtual_mc.h> #include <px4/vehicle_rates_setpoint.h> +#include <px4/mc_virtual_rates_setpoint.h> #include <px4/vehicle_attitude.h> #include <px4/vehicle_control_mode.h> #include <px4/actuator_armed.h> |