diff options
Diffstat (limited to 'src/modules/controllib/uorb/blocks.hpp')
| -rw-r--r-- | src/modules/controllib/uorb/blocks.hpp | 28 |
1 files changed, 14 insertions, 14 deletions
diff --git a/src/modules/controllib/uorb/blocks.hpp b/src/modules/controllib/uorb/blocks.hpp index 46dc1bec2..a8a70507e 100644 --- a/src/modules/controllib/uorb/blocks.hpp +++ b/src/modules/controllib/uorb/blocks.hpp @@ -43,7 +43,7 @@ #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_global_position_set_triplet.h> +#include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/actuator_controls.h> @@ -62,8 +62,8 @@ extern "C" { } #include "../blocks.hpp" -#include "UOrbSubscription.hpp" -#include "UOrbPublication.hpp" +#include <uORB/Subscription.hpp> +#include <uORB/Publication.hpp> namespace control { @@ -82,8 +82,8 @@ public: virtual ~BlockWaypointGuidance(); void update(vehicle_global_position_s &pos, vehicle_attitude_s &att, - vehicle_global_position_setpoint_s &posCmd, - vehicle_global_position_setpoint_s &lastPosCmd); + position_setpoint_s &missionCmd, + position_setpoint_s &lastMissionCmd); float getPsiCmd() { return _psiCmd; } }; @@ -94,16 +94,16 @@ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock { protected: // subscriptions - UOrbSubscription<vehicle_attitude_s> _att; - UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd; - UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd; - UOrbSubscription<vehicle_global_position_s> _pos; - UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd; - UOrbSubscription<manual_control_setpoint_s> _manual; - UOrbSubscription<vehicle_status_s> _status; - UOrbSubscription<parameter_update_s> _param_update; + uORB::Subscription<vehicle_attitude_s> _att; + uORB::Subscription<vehicle_attitude_setpoint_s> _attCmd; + uORB::Subscription<vehicle_rates_setpoint_s> _ratesCmd; + uORB::Subscription<vehicle_global_position_s> _pos; + uORB::Subscription<position_setpoint_triplet_s> _missionCmd; + uORB::Subscription<manual_control_setpoint_s> _manual; + uORB::Subscription<vehicle_status_s> _status; + uORB::Subscription<parameter_update_s> _param_update; // publications - UOrbPublication<actuator_controls_s> _actuators; + uORB::Publication<actuator_controls_s> _actuators; public: BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name); virtual ~BlockUorbEnabledAutopilot(); |