diff options
Diffstat (limited to 'src/examples/publisher/publisher_example.cpp')
| -rw-r--r-- | src/examples/publisher/publisher_example.cpp | 25 |
1 files changed, 20 insertions, 5 deletions
diff --git a/src/examples/publisher/publisher_example.cpp b/src/examples/publisher/publisher_example.cpp index 9952a16e4..e7ab9eb5a 100644 --- a/src/examples/publisher/publisher_example.cpp +++ b/src/examples/publisher/publisher_example.cpp @@ -45,7 +45,9 @@ using namespace px4; PublisherExample::PublisherExample() : _n(), - _rc_channels_pub(_n.advertise<px4_rc_channels>()) + _rc_channels_pub(_n.advertise<px4_rc_channels>()), + _v_att_pub(_n.advertise<px4_vehicle_attitude>()), + _parameter_update_pub(_n.advertise<px4_parameter_update>()) { } @@ -57,10 +59,23 @@ int PublisherExample::main() loop_rate.sleep(); _n.spinOnce(); - px4_rc_channels msg; - msg.data().timestamp_last_valid = px4::get_time_micros(); - PX4_INFO("%llu", msg.data().timestamp_last_valid); - _rc_channels_pub->publish(msg); + /* Publish example message */ + px4_rc_channels rc_channels_msg; + rc_channels_msg.data().timestamp_last_valid = px4::get_time_micros(); + PX4_INFO("rc: %llu", rc_channels_msg.data().timestamp_last_valid); + _rc_channels_pub->publish(rc_channels_msg); + + /* Publish example message */ + px4_vehicle_attitude v_att_msg; + v_att_msg.data().timestamp = px4::get_time_micros(); + PX4_INFO("att: %llu", v_att_msg.data().timestamp); + _v_att_pub->publish(v_att_msg); + + /* Publish example message */ + px4_parameter_update parameter_update_msg; + parameter_update_msg.data().timestamp = px4::get_time_micros(); + PX4_INFO("param update: %llu", parameter_update_msg.data().timestamp); + _parameter_update_pub->publish(parameter_update_msg); } |