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fw_att_control: publish vehicle_thrust_setpoint & vehicle_torque_setpoint

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This commit is contained in:
Beat Küng
2021-12-24 20:06:13 -05:00
committed by Daniel Agar
parent 4becd6e4c7
commit 28e995ede2
2 changed files with 36 additions and 0 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+7
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@@ -68,6 +68,8 @@
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_torque_setpoint.h>
using matrix::Eulerf;
using matrix::Quatf;
@@ -97,6 +99,9 @@ public:
private:
void Run() override;
void publishTorqueSetpoint(const hrt_abstime &timestamp_sample);
void publishThrustSetpoint(const hrt_abstime &timestamp_sample);
uORB::SubscriptionCallbackWorkItem _att_sub{this, ORB_ID(vehicle_attitude)}; /**< vehicle attitude */
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
@@ -119,6 +124,8 @@ private:
uORB::Publication<vehicle_attitude_setpoint_s> _attitude_sp_pub;
uORB::Publication<vehicle_rates_setpoint_s> _rate_sp_pub{ORB_ID(vehicle_rates_setpoint)};
uORB::PublicationMulti<rate_ctrl_status_s> _rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)};
uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
actuator_controls_s _actuators {}; /**< actuator control inputs */
manual_control_setpoint_s _manual_control_setpoint {}; /**< r/c channel data */