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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/rover_pos_control/RoverPositionControl.hpp
+2 -2
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@@ -64,6 +64,7 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/trajectory_setpoint.h>
#include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -71,7 +72,6 @@
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#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>
@@ -127,7 +127,7 @@ private:
vehicle_local_position_s _local_pos{}; /**< global vehicle position */
actuator_controls_s _act_controls{}; /**< direct control of actuators */
vehicle_attitude_s _vehicle_att{};
vehicle_local_position_setpoint_s _trajectory_setpoint{};
trajectory_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)};