6 files changed, 559 insertions, 0 deletions
diff --git a/src/modules/controllib/uorb/UOrbPublication.cpp b/src/modules/controllib/uorb/UOrbPublication.cpp
new file mode 100644
index 000000000..f69b39d90
--- /dev/null
+++ b/src/modules/controllib/uorb/UOrbPublication.cpp
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file UOrbPublication.cpp
+ *
+ */
+
+#include "UOrbPublication.hpp"
diff --git a/src/modules/controllib/uorb/UOrbPublication.hpp b/src/modules/controllib/uorb/UOrbPublication.hpp
new file mode 100644
index 000000000..6f1f3fc1c
--- /dev/null
+++ b/src/modules/controllib/uorb/UOrbPublication.hpp
@@ -0,0 +1,118 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file UOrbPublication.h
+ *
+ */
+
+#pragma once
+
+#include <uORB/uORB.h>
+#include "../block/Block.hpp"
+#include "../block/List.hpp"
+
+
+namespace control
+{
+
+class Block;
+
+/**
+ * Base publication warapper class, used in list traversal
+ * of various publications.
+ */
+class __EXPORT UOrbPublicationBase : public ListNode<control::UOrbPublicationBase *>
+{
+public:
+
+	UOrbPublicationBase(
+		List<UOrbPublicationBase *> * list,
+		const struct orb_metadata *meta) :
+		_meta(meta),
+		_handle(-1) {
+		if (list != NULL) list->add(this);
+	}
+	void update() {
+		if (_handle > 0) {
+			orb_publish(getMeta(), getHandle(), getDataVoidPtr());
+		} else {
+			setHandle(orb_advertise(getMeta(), getDataVoidPtr()));
+		}
+	}
+	virtual void *getDataVoidPtr() = 0;
+	virtual ~UOrbPublicationBase() {
+		orb_unsubscribe(getHandle());
+	}
+	const struct orb_metadata *getMeta() { return _meta; }
+	int getHandle() { return _handle; }
+protected:
+	void setHandle(orb_advert_t handle) { _handle = handle; }
+	const struct orb_metadata *_meta;
+	orb_advert_t _handle;
+};
+
+/**
+ * UOrb Publication wrapper class
+ */
+template<class T>
+class UOrbPublication :
+	public T, // this must be first!
+	public UOrbPublicationBase
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param list      A list interface for adding to list during construction
+	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+	 *			for the topic.
+	 */
+	UOrbPublication(
+		List<UOrbPublicationBase *> * list,
+		const struct orb_metadata *meta) :
+		T(), // initialize data structure to zero
+		UOrbPublicationBase(list, meta) {
+	}
+	virtual ~UOrbPublication() {}
+	/*
+	 * XXX
+	 * This function gets the T struct, assuming
+	 * the struct is the first base class, this
+	 * should use dynamic cast, but doesn't
+	 * seem to be available
+	 */
+	void *getDataVoidPtr() { return (void *)(T *)(this); }
+};
+
+} // namespace control
diff --git a/src/modules/controllib/uorb/UOrbSubscription.cpp b/src/modules/controllib/uorb/UOrbSubscription.cpp
new file mode 100644
index 000000000..022cadd24
--- /dev/null
+++ b/src/modules/controllib/uorb/UOrbSubscription.cpp
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file UOrbSubscription.cpp
+ *
+ */
+
+#include "UOrbSubscription.hpp"
+
+namespace control
+{
+
+bool __EXPORT UOrbSubscriptionBase::updated()
+{
+	bool isUpdated = false;
+	orb_check(_handle, &isUpdated);
+	return isUpdated;
+}
+
+} // namespace control
diff --git a/src/modules/controllib/uorb/UOrbSubscription.hpp b/src/modules/controllib/uorb/UOrbSubscription.hpp
new file mode 100644
index 000000000..d337d89a8
--- /dev/null
+++ b/src/modules/controllib/uorb/UOrbSubscription.hpp
@@ -0,0 +1,137 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file UOrbSubscription.h
+ *
+ */
+
+#pragma once
+
+#include <uORB/uORB.h>
+#include "../block/Block.hpp"
+#include "../block/List.hpp"
+
+
+namespace control
+{
+
+class Block;
+
+/**
+ * Base subscription warapper class, used in list traversal
+ * of various subscriptions.
+ */
+class __EXPORT UOrbSubscriptionBase :
+	public ListNode<control::UOrbSubscriptionBase *>
+{
+public:
+// methods
+
+	/**
+	 * Constructor
+	 *
+	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+	 *			for the topic.
+	 */
+	UOrbSubscriptionBase(
+		List<UOrbSubscriptionBase *> * list,
+		const struct orb_metadata *meta) :
+		_meta(meta),
+		_handle() {
+		if (list != NULL) list->add(this);
+	}
+	bool updated();
+	void update() {
+		if (updated()) {
+			orb_copy(_meta, _handle, getDataVoidPtr());
+		}
+	}
+	virtual void *getDataVoidPtr() = 0;
+	virtual ~UOrbSubscriptionBase() {
+		orb_unsubscribe(_handle);
+	}
+// accessors
+	const struct orb_metadata *getMeta() { return _meta; }
+	int getHandle() { return _handle; }
+protected:
+// accessors
+	void setHandle(int handle) { _handle = handle; }
+// attributes
+	const struct orb_metadata *_meta;
+	int _handle;
+};
+
+/**
+ * UOrb Subscription wrapper class
+ */
+template<class T>
+class __EXPORT UOrbSubscription :
+	public T, // this must be first!
+	public UOrbSubscriptionBase
+{
+public:
+	/**
+	 * Constructor
+	 *
+	 * @param list      A list interface for adding to list during construction
+	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
+	 *			for the topic.
+	 * @param interval  The minimum interval in milliseconds between updates
+	 */
+	UOrbSubscription(
+		List<UOrbSubscriptionBase *> * list,
+		const struct orb_metadata *meta, unsigned interval) :
+		T(), // initialize data structure to zero
+		UOrbSubscriptionBase(list, meta) {
+		setHandle(orb_subscribe(getMeta()));
+		orb_set_interval(getHandle(), interval);
+	}
+
+	/**
+	 * Deconstructor
+	 */
+	virtual ~UOrbSubscription() {}
+
+	/*
+	 * XXX
+	 * This function gets the T struct, assuming
+	 * the struct is the first base class, this
+	 * should use dynamic cast, but doesn't
+	 * seem to be available
+	 */
+	void *getDataVoidPtr() { return (void *)(T *)(this); }
+	T getData() { return T(*this); }
+};
+
+} // namespace control
diff --git a/src/modules/controllib/uorb/blocks.cpp b/src/modules/controllib/uorb/blocks.cpp
new file mode 100644
index 000000000..448a42a99
--- /dev/null
+++ b/src/modules/controllib/uorb/blocks.cpp
@@ -0,0 +1,101 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file uorb_blocks.cpp
+ *
+ * uorb block library code
+ */
+
+#include "blocks.hpp"
+
+namespace control
+{
+
+BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	_xtYawLimit(this, "XT2YAW"),
+	_xt2Yaw(this, "XT2YAW"),
+	_psiCmd(0)
+{
+}
+
+BlockWaypointGuidance::~BlockWaypointGuidance() {};
+
+void BlockWaypointGuidance::update(vehicle_global_position_s &pos,
+				   vehicle_attitude_s &att,
+				   vehicle_global_position_setpoint_s &posCmd,
+				   vehicle_global_position_setpoint_s &lastPosCmd)
+{
+
+	// heading to waypoint
+	float psiTrack = get_bearing_to_next_waypoint(
+				 (double)pos.lat / (double)1e7d,
+				 (double)pos.lon / (double)1e7d,
+				 (double)posCmd.lat / (double)1e7d,
+				 (double)posCmd.lon / (double)1e7d);
+
+	// cross track
+	struct crosstrack_error_s xtrackError;
+	get_distance_to_line(&xtrackError,
+			     (double)pos.lat / (double)1e7d,
+			     (double)pos.lon / (double)1e7d,
+			     (double)lastPosCmd.lat / (double)1e7d,
+			     (double)lastPosCmd.lon / (double)1e7d,
+			     (double)posCmd.lat / (double)1e7d,
+			     (double)posCmd.lon / (double)1e7d);
+
+	_psiCmd = _wrap_2pi(psiTrack -
+			    _xtYawLimit.update(_xt2Yaw.update(xtrackError.distance)));
+}
+
+BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
+	SuperBlock(parent, name),
+	// subscriptions
+	_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
+	_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
+	_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
+	_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
+	_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20),
+	_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
+	_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
+	_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
+	// publications
+	_actuators(&getPublications(), ORB_ID(actuator_controls_0))
+{
+}
+
+BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
+
+} // namespace control
+
diff --git a/src/modules/controllib/uorb/blocks.hpp b/src/modules/controllib/uorb/blocks.hpp
new file mode 100644
index 000000000..9c0720aa5
--- /dev/null
+++ b/src/modules/controllib/uorb/blocks.hpp
@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file uorb_blocks.h
+ *
+ * uorb block library code
+ */
+
+#pragma once
+
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#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/manual_control_setpoint.h>
+#include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/parameter_update.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+
+#include <drivers/drv_hrt.h>
+#include <poll.h>
+
+extern "C" {
+#include <systemlib/geo/geo.h>
+}
+
+#include "../blocks.hpp"
+#include "UOrbSubscription.hpp"
+#include "UOrbPublication.hpp"
+
+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
+{
+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;
+	// publications
+	UOrbPublication<actuator_controls_s> _actuators;
+public:
+	BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
+	virtual ~BlockUorbEnabledAutopilot();
+};
+
+} // namespace control
+