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fw_pos_control_l1: update orb_publish to uORB::Publication<>

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Daniel Agar
2019-09-02 16:20:44 -04:00
parent e83026f106
commit 7162000e80
2 changed files with 8 additions and 22 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+5 -4
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@@ -66,6 +66,7 @@
#include <px4_module_params.h>
#include <px4_posix.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/airspeed.h>
@@ -165,11 +166,11 @@ private:
uORB::SubscriptionData<vehicle_angular_velocity_s> _vehicle_rates_sub{ORB_ID(vehicle_angular_velocity)};
orb_advert_t _attitude_sp_pub{nullptr}; ///< attitude setpoint */
orb_advert_t _pos_ctrl_status_pub{nullptr}; ///< navigation capabilities publication */
orb_advert_t _pos_ctrl_landing_status_pub{nullptr}; ///< landing status publication */
orb_advert_t _tecs_status_pub{nullptr}; ///< TECS status publication */
orb_id_t _attitude_setpoint_id{nullptr};
orb_id_t _attitude_setpoint_id{nullptr};
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 */
manual_control_setpoint_s _manual {}; ///< r/c channel data */
position_setpoint_triplet_s _pos_sp_triplet {}; ///< triplet of mission items */