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 | 10 |
1 files changed, 7 insertions, 3 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 17c779796..cf4c726a7 100644 --- a/src/modules/mc_att_control/mc_att_control_base.h +++ b/src/modules/mc_att_control/mc_att_control_base.h @@ -87,11 +87,13 @@ public: protected: 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_attitude_setpoint) *_v_att_sp; /**< vehicle attitude setpoint */ + px4::PX4_SUBSCRIBER(vehicle_rates_setpoint) *_v_rates_sp; /**< vehicle rates setpoint */ px4::PX4_SUBSCRIBER(vehicle_control_mode) *_v_control_mode; /**< vehicle control mode */ + px4::PX4_SUBSCRIBER(parameter_update) *_parameter_update; /**< parameter update */ + px4::PX4_SUBSCRIBER(manual_control_setpoint) *_manual_control_sp; /**< manual control setpoint */ 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::PX4_SUBSCRIBER(vehicle_status) *_v_status; /**< vehicle status */ PX4_TOPIC_T(vehicle_attitude_setpoint) _v_att_sp_mod; /**< modified vehicle attitude setpoint that gets published eventually */ @@ -121,6 +123,8 @@ protected: float man_pitch_max; float man_yaw_max; math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */ + + int32_t autostart_id; } _params; bool _publish_att_sp; |