diff options
Diffstat (limited to 'src/modules/navigator/navigator.h')
| -rw-r--r-- | src/modules/navigator/navigator.h | 12 |
1 files changed, 12 insertions, 0 deletions
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index b161c2984..ec6e538e3 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -53,6 +53,7 @@ #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/parameter_update.h> #include <uORB/topics/mission_result.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> #include "navigator_mode.h" #include "mission.h" @@ -108,6 +109,12 @@ public: * Publish the mission result so commander and mavlink know what is going on */ void publish_mission_result(); + + /** + * Publish the attitude sp, only to be used in very special modes when position control is deactivated + * Example: mode that is triggered on gps failure + */ + void publish_att_sp(); /** * Setters @@ -125,6 +132,7 @@ public: struct home_position_s* get_home_position() { return &_home_pos; } struct position_setpoint_triplet_s* get_position_setpoint_triplet() { return &_pos_sp_triplet; } struct mission_result_s* get_mission_result() { return &_mission_result; } + struct vehicle_attitude_setpoint_s* get_att_sp() { return &_att_sp; } int get_onboard_mission_sub() { return _onboard_mission_sub; } int get_offboard_mission_sub() { return _offboard_mission_sub; } @@ -155,6 +163,9 @@ private: orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */ orb_advert_t _mission_result_pub; + orb_advert_t _att_sp_pub; /**< publish att sp + used only in very special failsafe modes + when pos control is deactivated */ vehicle_status_s _vstatus; /**< vehicle status */ vehicle_control_mode_s _control_mode; /**< vehicle control mode */ @@ -166,6 +177,7 @@ private: position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */ mission_result_s _mission_result; + vehicle_attitude_setpoint_s _att_sp; bool _mission_item_valid; /**< flags if the current mission item is valid */ |