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rover: 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 5da67e2e28
commit 4becd6e4c7
2 changed files with 18 additions and 0 deletions
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src/modules/rover_pos_control/RoverPositionControl.hpp
+4
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@@ -73,6 +73,8 @@
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_thrust_setpoint.h>
#include <uORB/topics/vehicle_torque_setpoint.h>
using matrix::Dcmf;
@@ -126,6 +128,8 @@ private:
actuator_controls_s _act_controls{}; /**< direct control of actuators */
vehicle_attitude_s _vehicle_att{};
vehicle_local_position_setpoint_s _trajectory_setpoint{};
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)};
uORB::SubscriptionData<vehicle_acceleration_s> _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};