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fw att: inject system identification signal to controller

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bresch
2021-10-25 13:41:31 +02:00
committed by Mathieu Bresciani
parent 6af0856558
commit 95e2941b17
2 changed files with 20 additions and 3 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.hpp
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@@ -55,6 +55,7 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_status.h>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/autotune_attitude_control_status.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
@@ -101,6 +102,7 @@ private:
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)}; /**< vehicle attitude setpoint */
uORB::Subscription _autotune_attitude_control_status_sub{ORB_ID(autotune_attitude_control_status)};
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; /**< battery status subscription */
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; /**< local position subscription */
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< notification of manual control updates */