diff options
Diffstat (limited to 'src/platforms/ros/nodes/commander/commander.h')
| -rw-r--r-- | src/platforms/ros/nodes/commander/commander.h | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/platforms/ros/nodes/commander/commander.h b/src/platforms/ros/nodes/commander/commander.h index 3152055ae..c537c8419 100644 --- a/src/platforms/ros/nodes/commander/commander.h +++ b/src/platforms/ros/nodes/commander/commander.h @@ -71,6 +71,12 @@ protected: px4::vehicle_status &msg_vehicle_status, px4::vehicle_control_mode &msg_vehicle_control_mode); + /** + * Sets offboard controll flags in msg_vehicle_control_mode + */ + void SetOffboardControl(const px4::offboard_control_mode &msg_offboard_control_mode, + px4::vehicle_control_mode &msg_vehicle_control_mode); + ros::NodeHandle _n; ros::Subscriber _man_ctrl_sp_sub; ros::Subscriber _offboard_control_mode_sub; @@ -84,4 +90,6 @@ protected: px4::vehicle_control_mode _msg_vehicle_control_mode; px4::offboard_control_mode _msg_offboard_control_mode; + bool _got_manual_control; + }; |