fly316/PX4-Autopilot
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segway move to examples

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This commit is contained in:
Daniel Agar
2017-03-11 11:40:14 +01:00
committed by Lorenz Meier
parent 89ff9f1fe3
commit 0611677ee2
15 changed files with 187 additions and 159 deletions
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src/lib/controllib/uorb/blocks.cpp
+6 -7
View File
@@ -84,20 +84,19 @@ void BlockWaypointGuidance::update(
BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
SuperBlock(parent, name),
// subscriptions
_manual(ORB_ID(manual_control_setpoint), 20, 0, &getSubscriptions()),
_param_update(ORB_ID(parameter_update), 1000, 0, &getSubscriptions()), // limit to 1 Hz
_missionCmd(ORB_ID(position_setpoint_triplet), 20, 0, &getSubscriptions()),
_att(ORB_ID(vehicle_attitude), 20, 0, &getSubscriptions()),
_attCmd(ORB_ID(vehicle_attitude_setpoint), 20, 0, &getSubscriptions()),
_ratesCmd(ORB_ID(vehicle_rates_setpoint), 20, 0, &getSubscriptions()),
_pos(ORB_ID(vehicle_global_position), 20, 0, &getSubscriptions()),
_missionCmd(ORB_ID(position_setpoint_triplet), 20, 0, &getSubscriptions()),
_manual(ORB_ID(manual_control_setpoint), 20, 0, &getSubscriptions()),
_ratesCmd(ORB_ID(vehicle_rates_setpoint), 20, 0, &getSubscriptions()),
_status(ORB_ID(vehicle_status), 20, 0, &getSubscriptions()),
_param_update(ORB_ID(parameter_update), 1000, 0, &getSubscriptions()), // limit to 1 Hz
// publications
_actuators(ORB_ID(actuator_controls_0), -1, &getPublications())
{
}
BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
} // namespace control
}
src/lib/controllib/uorb/blocks.hpp
+19 -18
View File
@@ -39,27 +39,27 @@
#pragma once
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/parameter_update.h>
#include <math.h>
#include <poll.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <controllib/blocks.hpp>
#include <drivers/drv_hrt.h>
#include <poll.h>
#include "../blocks.hpp"
#include <uORB/Subscription.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_controls.h>
namespace control
{
@@ -90,19 +90,20 @@ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
{
protected:
// subscriptions
uORB::Subscription<manual_control_setpoint_s> _manual;
uORB::Subscription<parameter_update_s> _param_update;
uORB::Subscription<position_setpoint_triplet_s> _missionCmd;
uORB::Subscription<vehicle_attitude_s> _att;
uORB::Subscription<vehicle_attitude_setpoint_s> _attCmd;
uORB::Subscription<vehicle_rates_setpoint_s> _ratesCmd;
uORB::Subscription<vehicle_global_position_s> _pos;
uORB::Subscription<position_setpoint_triplet_s> _missionCmd;
uORB::Subscription<manual_control_setpoint_s> _manual;
uORB::Subscription<vehicle_rates_setpoint_s> _ratesCmd;
uORB::Subscription<vehicle_status_s> _status;
uORB::Subscription<parameter_update_s> _param_update;
// publications
uORB::Publication<actuator_controls_s> _actuators;
public:
BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
virtual ~BlockUorbEnabledAutopilot();
virtual ~BlockUorbEnabledAutopilot() = default;
};
} // namespace control