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66 lines
2.4 KiB
C++
66 lines
2.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include "output.h"
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#include <uORB/Publication.hpp>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/gimbal_device_attitude_status.h>
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namespace gimbal
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{
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class OutputRC : public OutputBase
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{
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public:
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OutputRC() = delete;
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explicit OutputRC(const Parameters ¶meters);
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virtual ~OutputRC() = default;
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virtual void update(const ControlData &control_data, bool new_setpoints);
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virtual void print_status() const;
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private:
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void _stream_device_attitude_status();
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uORB::Publication <actuator_controls_s> _actuator_controls_pub{ORB_ID(actuator_controls_2)};
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uORB::Publication <gimbal_device_attitude_status_s> _attitude_status_pub{ORB_ID(gimbal_device_attitude_status)};
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bool _retract_gimbal = true;
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};
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} /* namespace gimbal */
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