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Log vehicle local position setpoints

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This commit enables the local position setpoints to be logged by publishing vehicle_local_position_setpoint
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Jaeyoung-Lim
2022-01-03 11:09:06 +01:00
committed by JaeyoungLim
parent 52418f13b0
commit 4127dfa791
2 changed files with 28 additions and 9 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+2
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@@ -154,6 +154,7 @@ private:
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Publication<vehicle_attitude_setpoint_s> _attitude_sp_pub;
uORB::Publication<vehicle_local_position_setpoint_s> _local_pos_sp_pub{ORB_ID(vehicle_local_position_setpoint)}; ///< vehicle local position setpoint publication
uORB::Publication<position_controller_status_s> _pos_ctrl_status_pub{ORB_ID(position_controller_status)}; ///< navigation capabilities publication
uORB::Publication<position_controller_landing_status_s> _pos_ctrl_landing_status_pub{ORB_ID(position_controller_landing_status)}; ///< landing status publication
uORB::Publication<tecs_status_s> _tecs_status_pub{ORB_ID(tecs_status)}; ///< TECS status publication
@@ -285,6 +286,7 @@ private:
void status_publish();
void landing_status_publish();
void tecs_status_publish();
void publishLocalPositionSetpoint(const position_setpoint_s current_waypoint);
void abort_landing(bool abort);