7/30/2023 0 Comments Px4 cmake command not found* initialize file descriptor to listen to vehicle_command * # of topics, here is 1 since we are only * declare file descriptor structure, # in the means the _vehicle_rates_setpoint_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_vehicle_rates_setpoint) _vehicle_control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &_vehicle_control_mode) _vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)) * subscribe to vehicle attitude topic */ _vehicle_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)) * subscribe to vehicle control mode topic */ _command_sub = orb_subscribe(ORB_ID(vehicle_command)) Int poll_interval = 100 // listen to the topic every x millisecond use this to check if a topic is updated * make sure slip_state is disabled at initialization */ Void FlipControl::task_main_trampoline(int argc, char *argv) Orb_copy(ORB_ID(vehicle_control_mode), _vehicle_control_mode_sub, &_vehicle_control_mode) Orb_check(_vehicle_control_mode_sub, &updated) * check if vehicle control mode has changed */ Void FlipControl::vehicle_control_mode_poll() * check for changes in vehicle control modeĬase vehicle_command_s::VEHICLE_CMD_FLIP_START:Ĭase vehicle_command_s::VEHICLE_CMD_FLIP_TERMINATE: * little function to print current flip state Void handle_command(struct vehicle_command_s *cmd) * It will execute appropriate actions according to input * This function handles the Mavlink command long messages This is quite easy, just copy and paste the following code into the text file: px4_add_module(Ĭopy or amend the following code and then paste into flip_control.cpp: #include Įxtern "C" _EXPORT int flip_control_main(int argc, char *argv) Create new files in the flip_control directory
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