diff options
Diffstat (limited to 'src/modules/uavcan/actuators/esc.hpp')
| -rw-r--r-- | src/modules/uavcan/actuators/esc.hpp | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/src/modules/uavcan/actuators/esc.hpp b/src/modules/uavcan/actuators/esc.hpp index 12c035542..af742e00f 100644 --- a/src/modules/uavcan/actuators/esc.hpp +++ b/src/modules/uavcan/actuators/esc.hpp @@ -46,6 +46,7 @@ #include <uavcan/uavcan.hpp> #include <uavcan/equipment/esc/RawCommand.hpp> +#include <uavcan/equipment/indication/LightsCommand.hpp> #include <uavcan/equipment/esc/Status.hpp> #include <systemlib/perf_counter.h> #include <uORB/topics/esc_status.h> @@ -63,6 +64,7 @@ public: void arm_all_escs(bool arm); void arm_single_esc(int num, bool arm); + void leds(int r, int g, int b, int hz); private: /** @@ -90,14 +92,21 @@ private: esc_status_s _esc_status = {}; orb_advert_t _esc_status_pub = -1; + bool _led_test; + uint8_t _red; + uint8_t _green; + uint8_t _blue; + uint8_t _Hz; + /* * libuavcan related things */ uavcan::MonotonicTime _prev_cmd_pub; ///< rate limiting uavcan::INode &_node; - uavcan::Publisher<uavcan::equipment::esc::RawCommand> _uavcan_pub_raw_cmd; + uavcan::Publisher<uavcan::equipment::esc::RawCommand> _uavcan_pub_raw_cmd; uavcan::Subscriber<uavcan::equipment::esc::Status, StatusCbBinder> _uavcan_sub_status; uavcan::TimerEventForwarder<TimerCbBinder> _orb_timer; + uavcan::Publisher<uavcan::equipment::indication::LightsCommand> _uavcan_pub_rgb_cmd; /* * ESC states |