From 001575e740261acf9de68023ab8e8bd59a478ce3 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Tue, 10 Feb 2015 23:34:26 +0100
Subject: ros: mavlink node: add mavconn link

---
 src/platforms/ros/nodes/mavlink/mavlink.cpp | 2 ++
 src/platforms/ros/nodes/mavlink/mavlink.h   | 2 ++
 2 files changed, 4 insertions(+)

(limited to 'src')

diff --git a/src/platforms/ros/nodes/mavlink/mavlink.cpp b/src/platforms/ros/nodes/mavlink/mavlink.cpp
index e64e576bd..b6413c3b4 100644
--- a/src/platforms/ros/nodes/mavlink/mavlink.cpp
+++ b/src/platforms/ros/nodes/mavlink/mavlink.cpp
@@ -49,6 +49,8 @@ using namespace px4;
 Mavlink::Mavlink() :
 	_n()
 {
+
+	_link = mavconn::MAVConnInterface::open_url("udp://localhost:14551@localhost:14552");
 }
 
 int main(int argc, char **argv)
diff --git a/src/platforms/ros/nodes/mavlink/mavlink.h b/src/platforms/ros/nodes/mavlink/mavlink.h
index 2723df35c..5b3946887 100644
--- a/src/platforms/ros/nodes/mavlink/mavlink.h
+++ b/src/platforms/ros/nodes/mavlink/mavlink.h
@@ -41,6 +41,7 @@
 */
 
 #include "ros/ros.h"
+#include <mavconn/interface.h>
 
 namespace px4
 {
@@ -55,6 +56,7 @@ public:
 protected:
 
 	ros::NodeHandle _n;
+	mavconn::MAVConnInterface::Ptr _link;
 };
 
 }
-- 
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