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use correct struct names for virtual topics

sbg
Roman 9 years ago
parent
80f8fcbdf6
commit
8c2eec6161
2 changed files with 42 additions and 41 deletions
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  1. 42
      src/modules/vtol_att_control/vtol_att_control_main.h
  2. 41
      src/modules/vtol_att_control/vtol_type.h

42
src/modules/vtol_att_control/vtol_att_control_main.h
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@ -115,8 +115,8 @@ public:
struct mc_virtual_attitude_setpoint_s *get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;} 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 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_rates_sp() {return &_v_rates_sp;}
struct vehicle_rates_setpoint_s *get_mc_virtual_rates_sp() {return &_mc_virtual_v_rates_sp;} struct mc_virtual_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 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 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 vehicle_control_mode_s *get_control_mode() {return &_v_control_mode;}
struct vtol_vehicle_status_s *get_vehicle_status() {return &_vtol_vehicle_status;} 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_rates_sp_pub;
orb_advert_t _v_att_sp_pub; orb_advert_t _v_att_sp_pub;
//*******************data containers*********************************************************** //*******************data containers***********************************************************
struct vehicle_attitude_s _v_att; //vehicle attitude struct vehicle_attitude_s _v_att; //vehicle attitude
struct vehicle_attitude_setpoint_s _v_att_sp; //vehicle attitude setpoint 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 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 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 _v_rates_sp; //vehicle rates setpoint
struct vehicle_rates_setpoint_s _mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint struct mc_virtual_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 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 manual_control_setpoint_s _manual_control_sp; //manual control setpoint
struct vehicle_control_mode_s _v_control_mode; //vehicle control mode struct vehicle_control_mode_s _v_control_mode; //vehicle control mode
struct vtol_vehicle_status_s _vtol_vehicle_status; 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_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_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_mc_in; //actuator controls from mc_att_control
struct actuator_controls_s _actuators_fw_in; //actuator controls from fw_att_control struct actuator_controls_s _actuators_fw_in; //actuator controls from fw_att_control
struct actuator_armed_s _armed; //actuator arming status struct actuator_armed_s _armed; //actuator arming status
struct vehicle_local_position_s _local_pos; struct vehicle_local_position_s _local_pos;
struct airspeed_s _airspeed; // airspeed struct airspeed_s _airspeed; // airspeed
struct battery_status_s _batt_status; // battery status struct battery_status_s _batt_status; // battery status
struct vehicle_command_s _vehicle_cmd; struct vehicle_command_s _vehicle_cmd;
Params _params; // struct holding the parameters Params _params; // struct holding the parameters

41
src/modules/vtol_att_control/vtol_type.h
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@ -35,6 +35,7 @@
* @file vtol_type.h * @file vtol_type.h
* *
* @author Roman Bapst <bapstroman@gmail.com> * @author Roman Bapst <bapstroman@gmail.com>
* @author Sander Smeets <sander@droneslab.com>
* *
*/ */
@ -91,26 +92,26 @@ protected:
VtolAttitudeControl *_attc; VtolAttitudeControl *_attc;
mode _vtol_mode; mode _vtol_mode;
struct vehicle_attitude_s *_v_att; //vehicle attitude struct vehicle_attitude_s *_v_att; //vehicle attitude
struct vehicle_attitude_setpoint_s *_v_att_sp; //vehicle attitude setpoint 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 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 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 *_v_rates_sp; //vehicle rates setpoint
struct vehicle_rates_setpoint_s *_mc_virtual_v_rates_sp; // virtual mc vehicle rates setpoint struct mc_virtual_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 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 manual_control_setpoint_s *_manual_control_sp; //manual control setpoint
struct vehicle_control_mode_s *_v_control_mode; //vehicle control mode struct vehicle_control_mode_s *_v_control_mode; //vehicle control mode
struct vtol_vehicle_status_s *_vtol_vehicle_status; 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_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_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_mc_in; //actuator controls from mc_att_control
struct actuator_controls_s *_actuators_fw_in; //actuator controls from fw_att_control struct actuator_controls_s *_actuators_fw_in; //actuator controls from fw_att_control
struct actuator_armed_s *_armed; //actuator arming status struct actuator_armed_s *_armed; //actuator arming status
struct vehicle_local_position_s *_local_pos; struct vehicle_local_position_s *_local_pos;
struct airspeed_s *_airspeed; // airspeed struct airspeed_s *_airspeed; // airspeed
struct battery_status_s *_batt_status; // battery status struct battery_status_s *_batt_status; // battery status
struct Params *_params; struct Params *_params;
bool flag_idle_mc; //false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode" bool flag_idle_mc; //false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode"

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