From e4379215f07f64feb3f1326b5e120166410b7d17 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 26 Jan 2015 10:33:27 +0100 Subject: WIP, add another subscriber to the example --- src/examples/subscriber/subscriber_example.cpp | 8 ++++++++ src/examples/subscriber/subscriber_example.h | 3 +-- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/src/examples/subscriber/subscriber_example.cpp b/src/examples/subscriber/subscriber_example.cpp index 781dde486..9dea162e2 100644 --- a/src/examples/subscriber/subscriber_example.cpp +++ b/src/examples/subscriber/subscriber_example.cpp @@ -70,6 +70,9 @@ SubscriberExample::SubscriberExample() : /* Class Method */ _n.subscribe(&SubscriberExample::rc_channels_callback, this, 1000); + /* Class Method 2 */ + _n.subscribe(&SubscriberExample::vehicle_attitude_callback, this, 1000); + PX4_INFO("subscribed"); } @@ -83,3 +86,8 @@ void SubscriberExample::rc_channels_callback(const px4_rc_channels &msg) { PX4_INFO("Callback (method): value of _sub_rc_chan: [%llu]", _sub_rc_chan->data().timestamp_last_valid); } + +void SubscriberExample::vehicle_attitude_callback(const px4_vehicle_attitude &msg) { + PX4_INFO("Callback (method): [%llu]", + msg.data().timestamp); +} diff --git a/src/examples/subscriber/subscriber_example.h b/src/examples/subscriber/subscriber_example.h index 8da3df438..d9d7d3fc2 100644 --- a/src/examples/subscriber/subscriber_example.h +++ b/src/examples/subscriber/subscriber_example.h @@ -59,6 +59,5 @@ protected: px4::Subscriber * _sub_rc_chan; void rc_channels_callback(const px4_rc_channels &msg); - - + void vehicle_attitude_callback(const px4_vehicle_attitude &msg); }; -- cgit v1.2.3