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added pos message and corrected rot vec errror

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This commit is contained in:
Marvin Harms
2022-06-07 10:50:05 +02:00
parent 3cb0418e0b
commit dbc14bbdb4
5 changed files with 41 additions and 3 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp
+3
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@@ -64,6 +64,7 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/soaring_controller_heartbeat.h>
#include <uORB/topics/soaring_controller_position_setpoint.h>
#include <uORB/topics/soaring_controller_position.h>
#include <uORB/topics/soaring_controller_status.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/wind.h>
@@ -130,6 +131,7 @@ private:
uORB::PublicationMulti<rate_ctrl_status_s> _rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)};
uORB::Publication<soaring_controller_heartbeat_s> _soaring_controller_heartbeat_pub{ORB_ID(soaring_controller_status)};
uORB::Publication<soaring_controller_position_setpoint_s> _soaring_controller_position_setpoint_pub{ORB_ID(soaring_controller_position_setpoint)};
uORB::Publication<soaring_controller_position_s> _soaring_controller_position_pub{ORB_ID(soaring_controller_position)};
uORB::Publication<offboard_control_mode_s> _offboard_control_mode_pub{ORB_ID(offboard_control_mode)};
// Message structs
@@ -150,6 +152,7 @@ private:
soaring_controller_status_s _soaring_controller_status {}; ///< soaring controller status
soaring_controller_heartbeat_s _soaring_controller_heartbeat{}; ///< soaring controller hrt
soaring_controller_position_setpoint_s _soaring_controller_position_setpoint{}; ///< soaring controller pos setpoint
soaring_controller_position_s _soaring_controller_position{}; ///< soaring controller pos
// parameter struct
DEFINE_PARAMETERS(