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add parsing of external attitude message

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Thomas Gubler
2014-07-15 10:34:56 +02:00
parent 7a06417411
commit d0cca02e97
3 changed files with 93 additions and 2 deletions
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src/modules/uORB/topics/offboard_control_setpoint.h
+6
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@@ -88,6 +88,7 @@ struct offboard_control_setpoint_s {
float attitude_rate[3]; /**< body angular rates (x, y, z) */
uint16_t ignore; /**< if field i is set to true, pi should be ignored */
//XXX define constants for bit offsets
bool isForceSetpoint; /**< the acceleration vector should be interpreted as force */
float override_mode_switch;
@@ -118,6 +119,11 @@ inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_s
return (bool)(offboard_control_sp.ignore & (1 << (9 + index)));
}
inline bool offboard_control_sp_ignore_attitude(const struct offboard_control_setpoint_s &offboard_control_sp) {
return (bool)(offboard_control_sp.ignore & (1 << 10));
}
/* register this as object request broker structure */
ORB_DECLARE(offboard_control_setpoint);