diff options
Diffstat (limited to 'src/modules/uORB/topics/offboard_control_setpoint.h')
-rw-r--r-- | src/modules/uORB/topics/offboard_control_setpoint.h | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h index 809412fc0..809a2ace4 100644 --- a/src/modules/uORB/topics/offboard_control_setpoint.h +++ b/src/modules/uORB/topics/offboard_control_setpoint.h @@ -88,6 +88,7 @@ struct offboard_control_setpoint_s { float attitude_rate[3]; /**< body angular rates (x, y, z) */ uint16_t ignore; /**< if field i is set to true, pi should be ignored */ + //XXX define constants for bit offsets bool isForceSetpoint; /**< the acceleration vector should be interpreted as force */ float override_mode_switch; @@ -118,6 +119,11 @@ inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_s return (bool)(offboard_control_sp.ignore & (1 << (9 + index))); } +inline bool offboard_control_sp_ignore_attitude(const struct offboard_control_setpoint_s &offboard_control_sp) { + return (bool)(offboard_control_sp.ignore & (1 << 10)); +} + + /* register this as object request broker structure */ ORB_DECLARE(offboard_control_setpoint); |