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sih update orb usage

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This commit is contained in:
Daniel Agar
2019-11-30 15:52:53 -05:00
parent c1c9895462
commit b418f937a3
2 changed files with 17 additions and 49 deletions
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src/modules/sih/sih.hpp
+11 -9
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@@ -46,8 +46,10 @@
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
#include <perf/perf_counter.h>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/vehicle_angular_velocity.h> // to publish groundtruth
#include <uORB/topics/vehicle_attitude.h> // to publish groundtruth
#include <uORB/topics/vehicle_global_position.h> // to publish groundtruth
@@ -105,23 +107,23 @@ private:
PX4Barometer _px4_baro{ 6620172, ORB_PRIO_DEFAULT }; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
// to publish the gps position
vehicle_gps_position_s _vehicle_gps_pos{};
orb_advert_t _vehicle_gps_pos_pub{nullptr};
vehicle_gps_position_s _vehicle_gps_pos{};
uORB::Publication<vehicle_gps_position_s> _vehicle_gps_pos_pub{ORB_ID(vehicle_gps_position)};
// angular velocity groundtruth
vehicle_angular_velocity_s _vehicle_angular_velocity_gt{};
orb_advert_t _vehicle_angular_velocity_gt_pub{nullptr};
vehicle_angular_velocity_s _vehicle_angular_velocity_gt{};
uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_gt_pub{ORB_ID(vehicle_angular_velocity_groundtruth)};
// attitude groundtruth
vehicle_attitude_s _att_gt{};
orb_advert_t _att_gt_pub{nullptr};
vehicle_attitude_s _att_gt{};
uORB::Publication<vehicle_attitude_s> _att_gt_pub{ORB_ID(vehicle_attitude_groundtruth)};
// global position groundtruth
vehicle_global_position_s _gpos_gt{};
orb_advert_t _gpos_gt_pub{nullptr};
vehicle_global_position_s _gpos_gt{};
uORB::Publication<vehicle_global_position_s> _gpos_gt_pub{ORB_ID(vehicle_global_position_groundtruth)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
int _actuator_out_sub {-1};
uORB::Subscription _actuator_out_sub{ORB_ID(actuator_outputs)};
// hard constants
static constexpr uint16_t NB_MOTORS = 4;