fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-12 02:11:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

vehicle_command: add VEHICLE_CMD_ACTUATOR_TEST and VEHICLE_CMD_CONFIGURE_ACTUATOR

Browse Source
This commit is contained in:
Beat Küng
2021-11-23 12:40:22 -05:00
committed by Daniel Agar
parent 6fdcc43ea8
commit 21699935e8
3 changed files with 62 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.hpp
+3
View File
@@ -48,6 +48,7 @@
// publications
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_test.h>
#include <uORB/topics/failure_detector_status.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/test_motor.h>
@@ -149,6 +150,7 @@ private:
bool handle_command(const vehicle_command_s &cmd);
unsigned handle_command_motor_test(const vehicle_command_s &cmd);
unsigned handle_command_actuator_test(const vehicle_command_s &cmd);
void executeActionRequest(const action_request_s &action_request);
@@ -436,6 +438,7 @@ private:
uORB::Publication<commander_state_s> _commander_state_pub{ORB_ID(commander_state)};
uORB::Publication<failure_detector_status_s> _failure_detector_status_pub{ORB_ID(failure_detector_status)};
uORB::Publication<test_motor_s> _test_motor_pub{ORB_ID(test_motor)};
uORB::Publication<actuator_test_s> _actuator_test_pub{ORB_ID(actuator_test)};
uORB::Publication<vehicle_control_mode_s> _control_mode_pub{ORB_ID(vehicle_control_mode)};
uORB::Publication<vehicle_status_flags_s> _vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};
uORB::Publication<vehicle_status_s> _status_pub{ORB_ID(vehicle_status)};