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@ -106,31 +106,31 @@ public:
@@ -106,31 +106,31 @@ public:
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private: |
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bool _task_should_exit; /**< if true, task should exit */ |
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bool _task_should_exit; /**< if true, task should exit */ |
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int _control_task; /**< task handle for task */ |
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int _mavlink_fd; /**< mavlink fd */ |
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int _att_sub; /**< vehicle attitude subscription */ |
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int _att_sp_sub; /**< vehicle attitude setpoint */ |
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int _control_mode_sub; /**< vehicle control mode subscription */ |
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int _params_sub; /**< notification of parameter updates */ |
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int _manual_sub; /**< notification of manual control updates */ |
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int _params_sub; /**< notification of parameter updates */ |
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int _manual_sub; /**< notification of manual control updates */ |
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int _arming_sub; /**< arming status of outputs */ |
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int _local_pos_sub; /**< vehicle local position */ |
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int _pos_sp_triplet_sub; /**< position setpoint triplet */ |
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int _local_pos_sp_sub; /**< offboard local position setpoint */ |
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int _global_vel_sp_sub; /**< offboard global velocity setpoint */ |
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int _local_pos_sp_sub; /**< offboard local position setpoint */ |
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int _global_vel_sp_sub; /**< offboard global velocity setpoint */ |
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orb_advert_t _att_sp_pub; /**< attitude setpoint publication */ |
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orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */ |
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orb_advert_t _global_vel_sp_pub; /**< vehicle global velocity setpoint publication */ |
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struct vehicle_attitude_s _att; /**< vehicle attitude */ |
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struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ |
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struct manual_control_setpoint_s _manual; /**< r/c channel data */ |
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struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */ |
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struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */ |
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struct manual_control_setpoint_s _manual; /**< r/c channel data */ |
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struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */ |
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struct actuator_armed_s _arming; /**< actuator arming status */ |
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struct vehicle_local_position_s _local_pos; /**< vehicle local position */ |
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struct vehicle_local_position_s _local_pos; /**< vehicle local position */ |
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struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */ |
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struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */ |
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struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */ |
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@ -258,8 +258,8 @@ MulticopterPositionControl::MulticopterPositionControl() :
@@ -258,8 +258,8 @@ MulticopterPositionControl::MulticopterPositionControl() :
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_manual_sub(-1), |
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_arming_sub(-1), |
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_local_pos_sub(-1), |
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_global_vel_sp_sub(-1), |
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_pos_sp_triplet_sub(-1), |
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_global_vel_sp_sub(-1), |
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/* publications */ |
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_att_sp_pub(-1), |
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