From fe6663ad9aa0a5fdb18e2ce3e23dd57d47ae8569 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 8 Dec 2014 15:09:31 +0100 Subject: add platforms/nuttx to default makefile --- src/modules/mc_att_control/mc_att_control_main.cpp | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) (limited to 'src/modules/mc_att_control/mc_att_control_main.cpp') diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 9dec6b8e6..631ca57e0 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -103,6 +103,8 @@ public: */ int start(); + void handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg); + private: bool _task_should_exit; /**< if true, sensor task should exit */ int _control_task; /**< task handle for sensor task */ @@ -422,11 +424,13 @@ MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[]) void MulticopterAttitudeControl::task_main() { + px4::NodeHandle n; /* * do subscriptions */ _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); + // PX4_SUBSCRIBE(n, vehicle_attitude_setpoint, MulticopterAttitudeControl::handle_vehicle_attitude, this 0); _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); @@ -582,6 +586,10 @@ MulticopterAttitudeControl::task_main() _exit(0); } +void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) { + PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp); +} + int MulticopterAttitudeControl::start() { @@ -603,8 +611,10 @@ MulticopterAttitudeControl::start() return OK; } -int mc_att_control_main(int argc, char *argv[]) +PX4_MAIN_FUNCTION(mc_att_control) { + px4::init(argc, argv, "mc_att_control"); + if (argc < 1) { errx(1, "usage: mc_att_control {start|stop|status}"); } -- cgit v1.2.3