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uORB combine VTOL FW and MC virtual topics (#7008)

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Daniel Agar
2017-04-09 13:17:20 -04:00
committed by GitHub
parent 19f0b0be3a
commit c5e0bf1c2f
17 changed files with 74 additions and 263 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+23 -33
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@@ -53,45 +53,35 @@
* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
*/
#include <conversion/rotation.h>
#include <drivers/drv_hrt.h>
#include <lib/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/tailsitter_recovery/tailsitter_recovery.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/fw_virtual_rates_setpoint.h>
#include <uORB/topics/mc_virtual_rates_setpoint.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/mc_att_ctrl_status.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_correction.h>
#include <systemlib/param/param.h>
#include <px4_tasks.h>
#include <systemlib/circuit_breaker.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <systemlib/circuit_breaker.h>
#include <lib/mathlib/mathlib.h>
#include <lib/geo/geo.h>
#include <lib/tailsitter_recovery/tailsitter_recovery.h>
#include <conversion/rotation.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/mc_att_ctrl_status.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_correction.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/uORB.h>
/**
* Multicopter attitude control app start / stop handling function