move vehicle_attitude_setpoint to msg format

src/platforms/px4_defines.h

@@ -115,6 +115,7 @@ static inline px4_param_t PX4_ROS_PARAM_SET(const char *name, float value)
 #define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name), std::bind(&_cbf, std::placeholders::_1), _interval)
 
 /* Parameter handle datatype */
+#include <systemlib/param/param.h>
 typedef param_t px4_param_t;
 
 /* Initialize a param, get param handle */

src/platforms/px4_includes.h

@@ -55,6 +55,7 @@
 #include <nuttx/config.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/rc_channels.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>
 

src/platforms/px4_middleware.h

@@ -53,13 +53,13 @@ __EXPORT uint64_t get_time_micros();
 /**
  * Returns true if the app/task should continue to run
  */
-bool ok() { return ros::ok(); }
+inline bool ok() { return ros::ok(); }
 #else
 extern bool task_should_exit;
 /**
  * Returns true if the app/task should continue to run
  */
-bool ok() { return !task_should_exit; }
+inline bool ok() { return !task_should_exit; }
 #endif
 
 class Rate