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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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86 lines
3.0 KiB
C++
86 lines
3.0 KiB
C++
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/****************************************************************************
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*
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* Copyright (C) 2014 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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/**
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* @file publisher_example.cpp
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* Example subscriber for ros and px4
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#include "publisher_example.h"
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using namespace px4;
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PublisherExample::PublisherExample() :
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_n(appState),
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_rc_channels_pub(_n.advertise<px4_rc_channels>()),
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_v_att_pub(_n.advertise<px4_vehicle_attitude>()),
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_parameter_update_pub(_n.advertise<px4_parameter_update>())
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{
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}
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px4::AppState PublisherExample::appState;
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int PublisherExample::main()
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{
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px4::Rate loop_rate(10);
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while (!appState.exitRequested()) {
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loop_rate.sleep();
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_n.spinOnce();
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/* Publish example message */
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px4_rc_channels rc_channels_msg;
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rc_channels_msg.data().timestamp_last_valid = px4::get_time_micros();
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PX4_INFO("rc: %" PRIu64, rc_channels_msg.data().timestamp_last_valid);
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_rc_channels_pub->publish(rc_channels_msg);
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/* Publish example message */
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px4_vehicle_attitude v_att_msg;
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v_att_msg.data().timestamp = px4::get_time_micros();
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PX4_INFO("att: %" PRIu64, v_att_msg.data().timestamp);
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_v_att_pub->publish(v_att_msg);
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/* Publish example message */
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px4_parameter_update parameter_update_msg;
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parameter_update_msg.data().timestamp = px4::get_time_micros();
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PX4_INFO("param update: %" PRIu64, parameter_update_msg.data().timestamp);
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_parameter_update_pub->publish(parameter_update_msg);
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}
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return 0;
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}
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