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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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fa4818e467
Co-authored-by: Anton Erasmus <anton@flycloudline.com> Co-authored-by: Beat Küng <beat-kueng@gmx.net>
98 lines
3.7 KiB
C++
98 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2018 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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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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/**
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* Airship attitude control app start / stop handling function
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*/
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extern "C" __EXPORT int airship_att_control_main(int argc, char *argv[]);
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class AirshipAttitudeControl : public ModuleBase<AirshipAttitudeControl>, public ModuleParams,
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public px4::WorkItem
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{
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public:
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AirshipAttitudeControl();
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virtual ~AirshipAttitudeControl();
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase::print_status() */
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int print_status() override;
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void Run() override;
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bool init();
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private:
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/**
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* Check for parameter update and handle it.
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*/
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void parameter_update_poll();
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void publish_actuator_controls();
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uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< parameter updates subscription */
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
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uORB::Subscription _manual_control_sp_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */
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uORB::SubscriptionCallbackWorkItem _vehicle_angular_velocity_sub{this, ORB_ID(vehicle_angular_velocity)};
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uORB::Publication<actuator_controls_s> _actuators_0_pub;
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struct manual_control_setpoint_s _manual_control_sp {}; /**< manual control setpoint */
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struct vehicle_status_s _vehicle_status {}; /**< vehicle status */
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struct actuator_controls_s _actuators {}; /**< actuator controls */
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perf_counter_t _loop_perf; /**< loop performance counter */
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};
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