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control_allocator and angular_velocity_controller throttle parameter_update subscription

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Daniel Agar
2021-01-10 21:43:12 -05:00
parent c36340d29a
commit 3e5e5ab1d5
3 changed files with 9 additions and 4 deletions
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src/modules/angular_velocity_controller/AngularVelocityController.hpp
+3 -1
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@@ -61,6 +61,7 @@
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_torque_setpoint.h>
using namespace time_literals;
class AngularVelocityController : public ModuleBase<AngularVelocityController>, public ModuleParams,
public px4::WorkItem
@@ -102,8 +103,9 @@ private:
AngularVelocityControl _control; ///< class for control calculations
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _control_allocator_status_sub{ORB_ID(control_allocator_status)}; /**< motor limits subscription */
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
uORB::Subscription _vehicle_angular_acceleration_sub{ORB_ID(vehicle_angular_acceleration)}; /**< vehicle angular acceleration subscription */
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle control mode subscription */
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */