diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/examples/subscriber/subscriber.cpp | 8 | ||||
-rw-r--r-- | src/platforms/px4_defines.h | 2 |
2 files changed, 10 insertions, 0 deletions
diff --git a/src/examples/subscriber/subscriber.cpp b/src/examples/subscriber/subscriber.cpp index a29f9ab93..a8ecd4a7d 100644 --- a/src/examples/subscriber/subscriber.cpp +++ b/src/examples/subscriber/subscriber.cpp @@ -74,6 +74,14 @@ PX4_MAIN_FUNCTION(subscriber) { */ px4::NodeHandle n; + /* Define a parameter */ + PX4_PARAM_INIT("SUB_INTERV", 100); + + /* Read the parameter back for testing */ + int32_t sub_interval; + PX4_PARAM_GET("SUB_INTERV", &sub_interval); + PX4_INFO("Param SUB_INTERV = %d", sub_interval); + /** * The subscribe() call is how you tell ROS that you want to receive messages * on a given topic. This invokes a call to the ROS diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h index 2dd57940d..2d9051aae 100644 --- a/src/platforms/px4_defines.h +++ b/src/platforms/px4_defines.h @@ -51,6 +51,8 @@ #define PX4_TOPIC_T(_name) _name #define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, &_obj); #define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf); +#define PX4_PARAM_INIT(_name, _default) ros::param::set(_name, _default); +#define PX4_PARAM_GET(_name, _destpt) ros::param::get(_name, *_destpt) #else /* * Building for NuttX |