fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 02:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Rover: Enable Offboard support for Rover position control

Browse Source
This commit is contained in:
JaeyoungLim
2019-08-21 12:04:19 -04:00
committed by Daniel Agar
parent ccdc2dffa9
commit 950dbc1d2e
2 changed files with 22 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/rover_pos_control/RoverPositionControl.hpp
+3
View File
@@ -64,6 +64,7 @@
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/ekf2_timestamps.h>
#include <uORB/uORB.h>
@@ -102,6 +103,7 @@ private:
int _control_mode_sub{-1}; /**< control mode subscription */
int _global_pos_sub{-1};
int _local_pos_sub{-1};
int _manual_control_sub{-1}; /**< notification of manual control updates */
int _params_sub{-1}; /**< notification of parameter updates */
int _pos_sp_triplet_sub{-1};
@@ -112,6 +114,7 @@ private:
position_setpoint_triplet_s _pos_sp_triplet{}; /**< triplet of mission items */
vehicle_control_mode_s _control_mode{}; /**< control mode */
vehicle_global_position_s _global_pos{}; /**< global vehicle position */
vehicle_local_position_s _local_pos{}; /**< global vehicle position */
actuator_controls_s _act_controls{}; /**< direct control of actuators */
vehicle_attitude_s _vehicle_att{};
sensor_combined_s _sensor_combined{};