diff options
Diffstat (limited to 'src/modules/controllib/uorb/blocks.hpp')
| -rw-r--r-- | src/modules/controllib/uorb/blocks.hpp | 23 |
1 files changed, 23 insertions, 0 deletions
diff --git a/src/modules/controllib/uorb/blocks.hpp b/src/modules/controllib/uorb/blocks.hpp index 54f31735c..9c0720aa5 100644 --- a/src/modules/controllib/uorb/blocks.hpp +++ b/src/modules/controllib/uorb/blocks.hpp @@ -57,6 +57,10 @@ #include <drivers/drv_hrt.h> #include <poll.h> +extern "C" { +#include <systemlib/geo/geo.h> +} + #include "../blocks.hpp" #include "UOrbSubscription.hpp" #include "UOrbPublication.hpp" @@ -65,6 +69,25 @@ namespace control { /** + * Waypoint Guidance block + */ +class __EXPORT BlockWaypointGuidance : public SuperBlock +{ +private: + BlockLimitSym _xtYawLimit; + BlockP _xt2Yaw; + float _psiCmd; +public: + BlockWaypointGuidance(SuperBlock *parent, const char *name); + 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); + float getPsiCmd() { return _psiCmd; } +}; + +/** * UorbEnabledAutopilot */ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock |