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mavlink: publish attitude / rates setpoint in offboard control mode

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Anton Babushkin
2014-05-21 11:14:06 +02:00
parent 950571eaf6
commit 78637ff74b
2 changed files with 74 additions and 5 deletions
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src/modules/mavlink/mavlink_receiver.h
+7
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@@ -36,6 +36,7 @@
* MAVLink 1.0 uORB listener definition
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#pragma once
@@ -44,6 +45,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h>
@@ -120,6 +122,7 @@ private:
mavlink_status_t status;
struct vehicle_local_position_s hil_local_pos;
struct vehicle_control_mode_s _control_mode;
orb_advert_t _global_pos_pub;
orb_advert_t _local_pos_pub;
orb_advert_t _attitude_pub;
@@ -134,10 +137,14 @@ private:
orb_advert_t _cmd_pub;
orb_advert_t _flow_pub;
orb_advert_t _offboard_control_sp_pub;
orb_advert_t _att_sp_pub;
orb_advert_t _rates_sp_pub;
orb_advert_t _vicon_position_pub;
orb_advert_t _telemetry_status_pub;
orb_advert_t _rc_pub;
orb_advert_t _manual_pub;
int _control_mode_sub;
int _hil_frames;
uint64_t _old_timestamp;
bool _hil_local_proj_inited;