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 | 17 |
1 files changed, 6 insertions, 11 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 515fb0c14..009f76268 100644 --- a/src/modules/mc_att_control/mc_att_control_base.h +++ b/src/modules/mc_att_control/mc_att_control_base.h @@ -34,7 +34,7 @@ /** * @file mc_att_control_base.h - * + * * @author Roman Bapst <bapstr@ethz.ch> * */ @@ -83,12 +83,7 @@ public: */ void control_attitude(float dt); void control_attitude_rates(float dt); - - // setters and getters for interface with euroc-gazebo simulator - void set_attitude(const Eigen::Quaternion<double> attitude); - void set_attitude_rates(const Eigen::Vector3d& angular_rate); - void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference); - void get_mixer_input(Eigen::Vector4d& motor_inputs); + void set_actuator_controls(); protected: @@ -105,8 +100,6 @@ protected: struct actuator_controls_s _actuators; /**< actuator controls */ struct actuator_armed_s _armed; /**< actuator arming status */ - perf_counter_t _loop_perf; /**< loop performance counter */ - math::Vector<3> _rates_prev; /**< angular rates on previous step */ math::Vector<3> _rates_sp; /**< angular rates setpoint */ math::Vector<3> _rates_int; /**< angular rates integral error */ @@ -130,8 +123,10 @@ protected: float man_yaw_max; math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */ } _params; - - void vehicle_attitude_setpoint_poll(); //provisional + + bool _publish_att_sp; + + virtual void vehicle_attitude_setpoint_poll() = 0; }; |