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 | 11 |
1 files changed, 5 insertions, 6 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 bff5289fd..95d608684 100644 --- a/src/modules/mc_att_control_multiplatform/mc_att_control.h +++ b/src/modules/mc_att_control_multiplatform/mc_att_control.h @@ -59,7 +59,6 @@ #include <math.h> #include <poll.h> #include <systemlib/perf_counter.h> -// #include <systemlib/systemlib.h> #include <systemlib/circuit_breaker.h> #include <lib/mathlib/mathlib.h> @@ -80,8 +79,8 @@ public: ~MulticopterAttitudeControl(); /* Callbacks for topics */ - void handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg); - void handle_parameter_update(const PX4_TOPIC_T(parameter_update) &msg); + void handle_vehicle_attitude(const px4_vehicle_attitude &msg); + void handle_parameter_update(const px4_parameter_update &msg); void spin() { _n.spin(); } @@ -89,9 +88,9 @@ private: bool _task_should_exit; /**< if true, sensor task should exit */ bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */ - px4::Publisher * _att_sp_pub; /**< attitude setpoint publication */ - px4::Publisher * _v_rates_sp_pub; /**< rate setpoint publication */ - px4::Publisher * _actuators_0_pub; /**< attitude actuator controls publication */ + px4::Publisher<px4_vehicle_attitude_setpoint> * _att_sp_pub; /**< attitude setpoint publication */ + px4::Publisher<px4_vehicle_rates_setpoint> * _v_rates_sp_pub; /**< rate setpoint publication */ + px4::Publisher<px4_actuator_controls_0> * _actuators_0_pub; /**< attitude actuator controls publication */ px4::NodeHandle _n; |