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 | 15 |
1 files changed, 8 insertions, 7 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 0783bb71e..05f89abe6 100644 --- a/src/modules/mc_att_control/mc_att_control_base.h +++ b/src/modules/mc_att_control/mc_att_control_base.h @@ -86,13 +86,14 @@ public: void set_actuator_controls(); protected: - struct vehicle_attitude_s _v_att; /**< vehicle attitude */ - struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */ - struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */ - struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */ - struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */ - struct actuator_controls_s _actuators; /**< actuator controls */ - struct actuator_armed_s _armed; /**< actuator arming status */ + px4::PX4_SUBSCRIBER(vehicle_attitude) *_v_att; /**< vehicle attitude */ + 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_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(actuator_controls) _actuators; /**< actuator controls */ math::Vector<3> _rates_prev; /**< angular rates on previous step */ math::Vector<3> _rates_sp; /**< angular rates setpoint */ |