From 8c2eec61612e120a8e7bad729277f0e98fb342bb Mon Sep 17 00:00:00 2001 From: Roman Date: Fri, 12 Feb 2016 12:37:39 +0100 Subject: [PATCH] use correct struct names for virtual topics --- .../vtol_att_control/vtol_att_control_main.h | 42 +++++++++---------- src/modules/vtol_att_control/vtol_type.h | 41 +++++++++--------- 2 files changed, 42 insertions(+), 41 deletions(-) diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h index 27bcc6ec7f..0fa934abaa 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.h +++ b/src/modules/vtol_att_control/vtol_att_control_main.h @@ -115,8 +115,8 @@ public: struct mc_virtual_attitude_setpoint_s *get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;} struct fw_virtual_attitude_setpoint_s *get_fw_virtual_att_sp() {return &_fw_virtual_att_sp;} struct vehicle_rates_setpoint_s *get_rates_sp() {return &_v_rates_sp;} - struct vehicle_rates_setpoint_s *get_mc_virtual_rates_sp() {return &_mc_virtual_v_rates_sp;} - struct vehicle_rates_setpoint_s *get_fw_virtual_rates_sp() {return &_fw_virtual_v_rates_sp;} + struct mc_virtual_rates_setpoint_s *get_mc_virtual_rates_sp() {return &_mc_virtual_v_rates_sp;} + struct fw_virtual_rates_setpoint_s *get_fw_virtual_rates_sp() {return &_fw_virtual_v_rates_sp;} struct manual_control_setpoint_s *get_manual_control_sp() {return &_manual_control_sp;} struct vehicle_control_mode_s *get_control_mode() {return &_v_control_mode;} struct vtol_vehicle_status_s *get_vehicle_status() {return &_vtol_vehicle_status;} @@ -164,25 +164,25 @@ private: orb_advert_t _v_rates_sp_pub; orb_advert_t _v_att_sp_pub; //*******************data containers*********************************************************** - struct vehicle_attitude_s _v_att; //vehicle attitude - struct vehicle_attitude_setpoint_s _v_att_sp; //vehicle attitude setpoint - struct mc_virtual_attitude_setpoint_s _mc_virtual_att_sp; // virtual mc attitude setpoint - struct fw_virtual_attitude_setpoint_s _fw_virtual_att_sp; // virtual fw attitude setpoint - struct vehicle_rates_setpoint_s _v_rates_sp; //vehicle rates setpoint - struct vehicle_rates_setpoint_s _mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint - struct vehicle_rates_setpoint_s _fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint - struct manual_control_setpoint_s _manual_control_sp; //manual control setpoint - struct vehicle_control_mode_s _v_control_mode; //vehicle control mode - struct vtol_vehicle_status_s _vtol_vehicle_status; - struct actuator_controls_s _actuators_out_0; //actuator controls going to the mc mixer - struct actuator_controls_s _actuators_out_1; //actuator controls going to the fw mixer (used for elevons) - struct actuator_controls_s _actuators_mc_in; //actuator controls from mc_att_control - struct actuator_controls_s _actuators_fw_in; //actuator controls from fw_att_control - struct actuator_armed_s _armed; //actuator arming status - struct vehicle_local_position_s _local_pos; - struct airspeed_s _airspeed; // airspeed - struct battery_status_s _batt_status; // battery status - struct vehicle_command_s _vehicle_cmd; + struct vehicle_attitude_s _v_att; //vehicle attitude + struct vehicle_attitude_setpoint_s _v_att_sp; //vehicle attitude setpoint + struct mc_virtual_attitude_setpoint_s _mc_virtual_att_sp; // virtual mc attitude setpoint + struct fw_virtual_attitude_setpoint_s _fw_virtual_att_sp; // virtual fw attitude setpoint + struct vehicle_rates_setpoint_s _v_rates_sp; //vehicle rates setpoint + struct mc_virtual_rates_setpoint_s _mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint + struct fw_virtual_rates_setpoint_s _fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint + struct manual_control_setpoint_s _manual_control_sp; //manual control setpoint + struct vehicle_control_mode_s _v_control_mode; //vehicle control mode + struct vtol_vehicle_status_s _vtol_vehicle_status; + struct actuator_controls_s _actuators_out_0; //actuator controls going to the mc mixer + struct actuator_controls_s _actuators_out_1; //actuator controls going to the fw mixer (used for elevons) + struct actuator_controls_s _actuators_mc_in; //actuator controls from mc_att_control + struct actuator_controls_s _actuators_fw_in; //actuator controls from fw_att_control + struct actuator_armed_s _armed; //actuator arming status + struct vehicle_local_position_s _local_pos; + struct airspeed_s _airspeed; // airspeed + struct battery_status_s _batt_status; // battery status + struct vehicle_command_s _vehicle_cmd; Params _params; // struct holding the parameters diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h index b8cfa81fb6..a0a25cad2f 100644 --- a/src/modules/vtol_att_control/vtol_type.h +++ b/src/modules/vtol_att_control/vtol_type.h @@ -35,6 +35,7 @@ * @file vtol_type.h * * @author Roman Bapst +* @author Sander Smeets * */ @@ -91,26 +92,26 @@ protected: VtolAttitudeControl *_attc; mode _vtol_mode; - struct vehicle_attitude_s *_v_att; //vehicle attitude - struct vehicle_attitude_setpoint_s *_v_att_sp; //vehicle attitude setpoint - struct mc_virtual_attitude_setpoint_s *_mc_virtual_att_sp; // virtual mc attitude setpoint - struct fw_virtual_attitude_setpoint_s *_fw_virtual_att_sp; // virtual fw attitude setpoint - struct vehicle_rates_setpoint_s *_v_rates_sp; //vehicle rates setpoint - struct vehicle_rates_setpoint_s *_mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint - struct vehicle_rates_setpoint_s *_fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint - struct manual_control_setpoint_s *_manual_control_sp; //manual control setpoint - struct vehicle_control_mode_s *_v_control_mode; //vehicle control mode - struct vtol_vehicle_status_s *_vtol_vehicle_status; - struct actuator_controls_s *_actuators_out_0; //actuator controls going to the mc mixer - struct actuator_controls_s *_actuators_out_1; //actuator controls going to the fw mixer (used for elevons) - struct actuator_controls_s *_actuators_mc_in; //actuator controls from mc_att_control - struct actuator_controls_s *_actuators_fw_in; //actuator controls from fw_att_control - struct actuator_armed_s *_armed; //actuator arming status - struct vehicle_local_position_s *_local_pos; - struct airspeed_s *_airspeed; // airspeed - struct battery_status_s *_batt_status; // battery status - - struct Params *_params; + struct vehicle_attitude_s *_v_att; //vehicle attitude + struct vehicle_attitude_setpoint_s *_v_att_sp; //vehicle attitude setpoint + struct mc_virtual_attitude_setpoint_s *_mc_virtual_att_sp; // virtual mc attitude setpoint + struct fw_virtual_attitude_setpoint_s *_fw_virtual_att_sp; // virtual fw attitude setpoint + struct vehicle_rates_setpoint_s *_v_rates_sp; //vehicle rates setpoint + struct mc_virtual_rates_setpoint_s *_mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint + struct fw_virtual_rates_setpoint_s *_fw_virtual_v_rates_sp; // virtual fw vehicle rates setpoint + struct manual_control_setpoint_s *_manual_control_sp; //manual control setpoint + struct vehicle_control_mode_s *_v_control_mode; //vehicle control mode + struct vtol_vehicle_status_s *_vtol_vehicle_status; + struct actuator_controls_s *_actuators_out_0; //actuator controls going to the mc mixer + struct actuator_controls_s *_actuators_out_1; //actuator controls going to the fw mixer (used for elevons) + struct actuator_controls_s *_actuators_mc_in; //actuator controls from mc_att_control + struct actuator_controls_s *_actuators_fw_in; //actuator controls from fw_att_control + struct actuator_armed_s *_armed; //actuator arming status + struct vehicle_local_position_s *_local_pos; + struct airspeed_s *_airspeed; // airspeed + struct battery_status_s *_batt_status; // battery status + + struct Params *_params; bool flag_idle_mc; //false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode"