diff options
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_base.h')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_base.h | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h index 05f89abe6..2135b61d8 100644 --- a/src/modules/mc_att_control/mc_att_control_base.h +++ b/src/modules/mc_att_control/mc_att_control_base.h @@ -90,9 +90,13 @@ protected: px4::PX4_SUBSCRIBER(manual_control_setpoint) *_manual_control_sp; /**< manual control setpoint */ px4::PX4_SUBSCRIBER(vehicle_control_mode) *_v_control_mode; /**< vehicle control mode */ px4::PX4_SUBSCRIBER(actuator_armed) *_armed; /**< actuator arming status */ + px4::PX4_SUBSCRIBER(vehicle_attitude_setpoint) * _v_att_sp; /**< vehicle attitude setpoint */ + px4::PX4_SUBSCRIBER(vehicle_rates_setpoint) * _v_rates_sp; /**< vehicle rates setpoint */ - PX4_TOPIC_T(vehicle_attitude_setpoint) _v_att_sp; /**< vehicle attitude setpoint */ - PX4_TOPIC_T(vehicle_rates_setpoint) _v_rates_sp; /**< vehicle rates setpoint */ + PX4_TOPIC_T(vehicle_attitude_setpoint) _v_att_sp_mod; /**< modified vehicle attitude setpoint + that gets published eventually */ + PX4_TOPIC_T(vehicle_rates_setpoint) _v_rates_sp_mod; /**< vehicle rates setpoint + that gets published eventually*/ PX4_TOPIC_T(actuator_controls) _actuators; /**< actuator controls */ math::Vector<3> _rates_prev; /**< angular rates on previous step */ |