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Fixes to fixed wing control example, fixes to the way the control lib publishes estimates

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Lorenz Meier
2013-07-04 15:46:53 +02:00
parent b01673d1d8
commit d72e9929aa
3 changed files with 14 additions and 14 deletions
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src/modules/controllib/fixedwing.hpp
+3 -3
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@@ -43,7 +43,7 @@
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/vehicle_global_position_set_triplet.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
@@ -280,7 +280,7 @@ protected:
UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
UOrbSubscription<vehicle_global_position_s> _pos;
UOrbSubscription<vehicle_global_position_setpoint_s> _posCmd;
UOrbSubscription<vehicle_global_position_set_triplet_s> _posCmd;
UOrbSubscription<manual_control_setpoint_s> _manual;
UOrbSubscription<vehicle_status_s> _status;
UOrbSubscription<parameter_update_s> _param_update;
@@ -328,7 +328,7 @@ private:
BlockParam<float> _crMax;
struct pollfd _attPoll;
vehicle_global_position_setpoint_s _lastPosCmd;
vehicle_global_position_set_triplet_s _lastPosCmd;
enum {CH_AIL, CH_ELV, CH_RDR, CH_THR};
uint64_t _timeStamp;
public: