mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 22:13:33 +08:00
Working on segway controller, restructure of fixedwing.
This commit is contained in:
James Goppert
@@ -0,0 +1,39 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file UOrbPublication.cpp
|
||||
*
|
||||
*/
|
||||
|
||||
#include "UOrbPublication.hpp"
|
||||
@@ -0,0 +1,118 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file UOrbPublication.h
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
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||||
|
||||
#include <uORB/uORB.h>
|
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#include "../block/Block.hpp"
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#include "../block/List.hpp"
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||||
|
||||
|
||||
namespace control
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||||
{
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||||
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||||
class Block;
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||||
|
||||
/**
|
||||
* Base publication warapper class, used in list traversal
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* of various publications.
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||||
*/
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||||
class __EXPORT UOrbPublicationBase : public ListNode<control::UOrbPublicationBase *>
|
||||
{
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||||
public:
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||||
|
||||
UOrbPublicationBase(
|
||||
List<UOrbPublicationBase *> * list,
|
||||
const struct orb_metadata *meta) :
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||||
_meta(meta),
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||||
_handle(-1) {
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||||
if (list != NULL) list->add(this);
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||||
}
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||||
void update() {
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||||
if (_handle > 0) {
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||||
orb_publish(getMeta(), getHandle(), getDataVoidPtr());
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} else {
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setHandle(orb_advertise(getMeta(), getDataVoidPtr()));
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}
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}
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virtual void *getDataVoidPtr() = 0;
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||||
virtual ~UOrbPublicationBase() {
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orb_unsubscribe(getHandle());
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}
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||||
const struct orb_metadata *getMeta() { return _meta; }
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||||
int getHandle() { return _handle; }
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||||
protected:
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||||
void setHandle(orb_advert_t handle) { _handle = handle; }
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||||
const struct orb_metadata *_meta;
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||||
orb_advert_t _handle;
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||||
};
|
||||
|
||||
/**
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||||
* UOrb Publication wrapper class
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*/
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||||
template<class T>
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||||
class UOrbPublication :
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||||
public T, // this must be first!
|
||||
public UOrbPublicationBase
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||||
{
|
||||
public:
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||||
/**
|
||||
* Constructor
|
||||
*
|
||||
* @param list A list interface for adding to list during construction
|
||||
* @param meta The uORB metadata (usually from the ORB_ID() macro)
|
||||
* for the topic.
|
||||
*/
|
||||
UOrbPublication(
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||||
List<UOrbPublicationBase *> * list,
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const struct orb_metadata *meta) :
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||||
T(), // initialize data structure to zero
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||||
UOrbPublicationBase(list, meta) {
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||||
}
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||||
virtual ~UOrbPublication() {}
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||||
/*
|
||||
* XXX
|
||||
* This function gets the T struct, assuming
|
||||
* the struct is the first base class, this
|
||||
* should use dynamic cast, but doesn't
|
||||
* seem to be available
|
||||
*/
|
||||
void *getDataVoidPtr() { return (void *)(T *)(this); }
|
||||
};
|
||||
|
||||
} // namespace control
|
||||
@@ -0,0 +1,51 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file UOrbSubscription.cpp
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||||
*
|
||||
*/
|
||||
|
||||
#include "UOrbSubscription.hpp"
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||||
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||||
namespace control
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||||
{
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||||
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bool __EXPORT UOrbSubscriptionBase::updated()
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||||
{
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bool isUpdated = false;
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||||
orb_check(_handle, &isUpdated);
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return isUpdated;
|
||||
}
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||||
|
||||
} // namespace control
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||||
@@ -0,0 +1,137 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file UOrbSubscription.h
|
||||
*
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include "../block/Block.hpp"
|
||||
#include "../block/List.hpp"
|
||||
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
||||
class Block;
|
||||
|
||||
/**
|
||||
* Base subscription warapper class, used in list traversal
|
||||
* of various subscriptions.
|
||||
*/
|
||||
class __EXPORT UOrbSubscriptionBase :
|
||||
public ListNode<control::UOrbSubscriptionBase *>
|
||||
{
|
||||
public:
|
||||
// methods
|
||||
|
||||
/**
|
||||
* Constructor
|
||||
*
|
||||
* @param meta The uORB metadata (usually from the ORB_ID() macro)
|
||||
* for the topic.
|
||||
*/
|
||||
UOrbSubscriptionBase(
|
||||
List<UOrbSubscriptionBase *> * list,
|
||||
const struct orb_metadata *meta) :
|
||||
_meta(meta),
|
||||
_handle() {
|
||||
if (list != NULL) list->add(this);
|
||||
}
|
||||
bool updated();
|
||||
void update() {
|
||||
if (updated()) {
|
||||
orb_copy(_meta, _handle, getDataVoidPtr());
|
||||
}
|
||||
}
|
||||
virtual void *getDataVoidPtr() = 0;
|
||||
virtual ~UOrbSubscriptionBase() {
|
||||
orb_unsubscribe(_handle);
|
||||
}
|
||||
// accessors
|
||||
const struct orb_metadata *getMeta() { return _meta; }
|
||||
int getHandle() { return _handle; }
|
||||
protected:
|
||||
// accessors
|
||||
void setHandle(int handle) { _handle = handle; }
|
||||
// attributes
|
||||
const struct orb_metadata *_meta;
|
||||
int _handle;
|
||||
};
|
||||
|
||||
/**
|
||||
* UOrb Subscription wrapper class
|
||||
*/
|
||||
template<class T>
|
||||
class __EXPORT UOrbSubscription :
|
||||
public T, // this must be first!
|
||||
public UOrbSubscriptionBase
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*
|
||||
* @param list A list interface for adding to list during construction
|
||||
* @param meta The uORB metadata (usually from the ORB_ID() macro)
|
||||
* for the topic.
|
||||
* @param interval The minimum interval in milliseconds between updates
|
||||
*/
|
||||
UOrbSubscription(
|
||||
List<UOrbSubscriptionBase *> * list,
|
||||
const struct orb_metadata *meta, unsigned interval) :
|
||||
T(), // initialize data structure to zero
|
||||
UOrbSubscriptionBase(list, meta) {
|
||||
setHandle(orb_subscribe(getMeta()));
|
||||
orb_set_interval(getHandle(), interval);
|
||||
}
|
||||
|
||||
/**
|
||||
* Deconstructor
|
||||
*/
|
||||
virtual ~UOrbSubscription() {}
|
||||
|
||||
/*
|
||||
* XXX
|
||||
* This function gets the T struct, assuming
|
||||
* the struct is the first base class, this
|
||||
* should use dynamic cast, but doesn't
|
||||
* seem to be available
|
||||
*/
|
||||
void *getDataVoidPtr() { return (void *)(T *)(this); }
|
||||
T getData() { return T(*this); }
|
||||
};
|
||||
|
||||
} // namespace control
|
||||
@@ -0,0 +1,64 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file uorb_blocks.cpp
|
||||
*
|
||||
* uorb block library code
|
||||
*/
|
||||
|
||||
#include "blocks.hpp"
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
||||
BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name) :
|
||||
SuperBlock(parent, name),
|
||||
// subscriptions
|
||||
_att(&getSubscriptions(), ORB_ID(vehicle_attitude), 20),
|
||||
_attCmd(&getSubscriptions(), ORB_ID(vehicle_attitude_setpoint), 20),
|
||||
_ratesCmd(&getSubscriptions(), ORB_ID(vehicle_rates_setpoint), 20),
|
||||
_pos(&getSubscriptions() , ORB_ID(vehicle_global_position), 20),
|
||||
_posCmd(&getSubscriptions(), ORB_ID(vehicle_global_position_set_triplet), 20),
|
||||
_manual(&getSubscriptions(), ORB_ID(manual_control_setpoint), 20),
|
||||
_status(&getSubscriptions(), ORB_ID(vehicle_status), 20),
|
||||
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
|
||||
// publications
|
||||
_actuators(&getPublications(), ORB_ID(actuator_controls_0))
|
||||
{
|
||||
}
|
||||
|
||||
BlockUorbEnabledAutopilot::~BlockUorbEnabledAutopilot() {};
|
||||
|
||||
} // namespace control
|
||||
|
||||
@@ -0,0 +1,90 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file uorb_blocks.h
|
||||
*
|
||||
* uorb block library code
|
||||
*/
|
||||
|
||||
#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/vehicle_global_position_set_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 <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <poll.h>
|
||||
|
||||
#include "../blocks.hpp"
|
||||
#include "UOrbSubscription.hpp"
|
||||
#include "UOrbPublication.hpp"
|
||||
|
||||
namespace control
|
||||
{
|
||||
|
||||
/**
|
||||
* UorbEnabledAutopilot
|
||||
*/
|
||||
class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
|
||||
{
|
||||
protected:
|
||||
// subscriptions
|
||||
UOrbSubscription<vehicle_attitude_s> _att;
|
||||
UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
|
||||
UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
|
||||
UOrbSubscription<vehicle_global_position_s> _pos;
|
||||
UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd;
|
||||
UOrbSubscription<manual_control_setpoint_s> _manual;
|
||||
UOrbSubscription<vehicle_status_s> _status;
|
||||
UOrbSubscription<parameter_update_s> _param_update;
|
||||
// publications
|
||||
UOrbPublication<actuator_controls_s> _actuators;
|
||||
public:
|
||||
BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
|
||||
virtual ~BlockUorbEnabledAutopilot();
|
||||
};
|
||||
|
||||
} // namespace control
|
||||
|
||||
Reference in New Issue
Block a user