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extend subscriber/publisher example

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This commit is contained in:
Thomas Gubler
2015-01-26 19:01:07 +01:00
parent 8dbb1fc8d4
commit abeae7b6f6
4 changed files with 47 additions and 9 deletions
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src/examples/publisher/publisher_example.cpp
+20 -5
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@@ -45,7 +45,9 @@ using namespace px4;
PublisherExample::PublisherExample() :
_n(),
_rc_channels_pub(_n.advertise<px4_rc_channels>())
_rc_channels_pub(_n.advertise<px4_rc_channels>()),
_v_att_pub(_n.advertise<px4_vehicle_attitude>()),
_parameter_update_pub(_n.advertise<px4_parameter_update>())
{
}
@@ -57,10 +59,23 @@ int PublisherExample::main()
loop_rate.sleep();
_n.spinOnce();
px4_rc_channels msg;
msg.data().timestamp_last_valid = px4::get_time_micros();
PX4_INFO("%llu", msg.data().timestamp_last_valid);
_rc_channels_pub->publish(msg);
/* Publish example message */
px4_rc_channels rc_channels_msg;
rc_channels_msg.data().timestamp_last_valid = px4::get_time_micros();
PX4_INFO("rc: %llu", rc_channels_msg.data().timestamp_last_valid);
_rc_channels_pub->publish(rc_channels_msg);
/* Publish example message */
px4_vehicle_attitude v_att_msg;
v_att_msg.data().timestamp = px4::get_time_micros();
PX4_INFO("att: %llu", v_att_msg.data().timestamp);
_v_att_pub->publish(v_att_msg);
/* Publish example message */
px4_parameter_update parameter_update_msg;
parameter_update_msg.data().timestamp = px4::get_time_micros();
PX4_INFO("param update: %llu", parameter_update_msg.data().timestamp);
_parameter_update_pub->publish(parameter_update_msg);
}