diff options
Diffstat (limited to 'src/modules/mc_att_control_multiplatform/mc_att_control.h')
| -rw-r--r-- | src/modules/mc_att_control_multiplatform/mc_att_control.h | 45 |
1 files changed, 22 insertions, 23 deletions
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.h b/src/modules/mc_att_control_multiplatform/mc_att_control.h index 95d608684..e44317316 100644 --- a/src/modules/mc_att_control_multiplatform/mc_att_control.h +++ b/src/modules/mc_att_control_multiplatform/mc_att_control.h @@ -95,29 +95,28 @@ private: px4::NodeHandle _n; struct { - px4_param_t roll_p; - px4_param_t roll_rate_p; - px4_param_t roll_rate_i; - px4_param_t roll_rate_d; - px4_param_t pitch_p; - px4_param_t pitch_rate_p; - px4_param_t pitch_rate_i; - px4_param_t pitch_rate_d; - px4_param_t yaw_p; - px4_param_t yaw_rate_p; - px4_param_t yaw_rate_i; - px4_param_t yaw_rate_d; - px4_param_t yaw_ff; - px4_param_t yaw_rate_max; - - px4_param_t man_roll_max; - px4_param_t man_pitch_max; - px4_param_t man_yaw_max; - px4_param_t acro_roll_max; - px4_param_t acro_pitch_max; - px4_param_t acro_yaw_max; - - px4_param_t autostart_id; + px4::ParameterFloat roll_p; + px4::ParameterFloat roll_rate_p; + px4::ParameterFloat roll_rate_i; + px4::ParameterFloat roll_rate_d; + px4::ParameterFloat pitch_p; + px4::ParameterFloat pitch_rate_p; + px4::ParameterFloat pitch_rate_i; + px4::ParameterFloat pitch_rate_d; + px4::ParameterFloat yaw_p; + px4::ParameterFloat yaw_rate_p; + px4::ParameterFloat yaw_rate_i; + px4::ParameterFloat yaw_rate_d; + px4::ParameterFloat yaw_ff; + px4::ParameterFloat yaw_rate_max; + + px4::ParameterFloat man_roll_max; + px4::ParameterFloat man_pitch_max; + px4::ParameterFloat man_yaw_max; + px4::ParameterFloat acro_roll_max; + px4::ParameterFloat acro_pitch_max; + px4::ParameterFloat acro_yaw_max; + } _params_handles; /**< handles for interesting parameters */ perf_counter_t _loop_perf; /**< loop performance counter */ |