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Separate message for trajectory setpoint

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This commit is contained in:
Matthias Grob
2022-05-12 17:19:48 +02:00
parent 9166b6953d
commit 8ca28f3796
41 changed files with 126 additions and 137 deletions
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src/modules/flight_mode_manager/FlightModeManager.hpp
+3 -2
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@@ -47,6 +47,7 @@
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/takeoff_status.h>
#include <uORB/topics/trajectory_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
@@ -92,7 +93,7 @@ private:
void send_vehicle_cmd_do(uint8_t nav_state);
void handleCommand();
void generateTrajectorySetpoint(const float dt, const vehicle_local_position_s &vehicle_local_position);
void limitAltitude(vehicle_local_position_setpoint_s &setpoint, const vehicle_local_position_s &vehicle_local_position);
void limitAltitude(trajectory_setpoint_s &setpoint, const vehicle_local_position_s &vehicle_local_position);
/**
* Switch to a specific task (for normal usage)
@@ -152,7 +153,7 @@ private:
uORB::SubscriptionData<vehicle_status_s> _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Publication<landing_gear_s> _landing_gear_pub{ORB_ID(landing_gear)};
uORB::Publication<vehicle_local_position_setpoint_s> _trajectory_setpoint_pub{ORB_ID(trajectory_setpoint)};
uORB::Publication<trajectory_setpoint_s> _trajectory_setpoint_pub{ORB_ID(trajectory_setpoint)};
uORB::Publication<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
uORB::Publication<vehicle_command_ack_s> _vehicle_command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_constraints_s> _vehicle_constraints_pub{ORB_ID(vehicle_constraints)};