From 5237364a5a6a5e765bbb30cb20eb399dcd14489a Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Thu, 29 Jan 2015 13:38:39 +0100
Subject: commander dummy node: extend to support switching between modes

---
 src/platforms/ros/nodes/commander/commander.h | 9 +++++++++
 1 file changed, 9 insertions(+)

(limited to 'src/platforms/ros/nodes/commander/commander.h')

diff --git a/src/platforms/ros/nodes/commander/commander.h b/src/platforms/ros/nodes/commander/commander.h
index bd4092b3a..f251f7c1a 100644
--- a/src/platforms/ros/nodes/commander/commander.h
+++ b/src/platforms/ros/nodes/commander/commander.h
@@ -40,6 +40,8 @@
 
 #include "ros/ros.h"
 #include <px4/manual_control_setpoint.h>
+#include <px4/vehicle_control_mode.h>
+#include <px4/vehicle_status.h>
 #include <px4/parameter_update.h>
 #include <px4/actuator_armed.h>
 
@@ -56,6 +58,13 @@ protected:
 	 */
 	void ManualControlInputCallback(const px4::manual_control_setpointConstPtr &msg);
 
+	/**
+	 * Set control mode flags based on stick positions (equiv to code in px4 commander)
+	 */
+	void EvalSwitches(const px4::manual_control_setpointConstPtr &msg,
+			px4::vehicle_status &msg_vehicle_status,
+			px4::vehicle_control_mode &msg_vehicle_control_mode);
+
 	ros::NodeHandle _n;
 	ros::Subscriber _man_ctrl_sp_sub;
 	ros::Publisher _vehicle_control_mode_pub;
-- 
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