mirror of https://github.com/ArduPilot/ardupilot
20 lines
611 B
C++
20 lines
611 B
C++
#pragma once
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#if AP_DDS_ENABLED
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#include "ardupilot_msgs/msg/GlobalPosition.h"
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#include "geometry_msgs/msg/TwistStamped.h"
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#include <AP_Common/Location.h>
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class AP_DDS_External_Control
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{
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public:
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// REP-147 Goal Interface Global Position Control
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// https://ros.org/reps/rep-0147.html#goal-interface
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static bool handle_global_position_control(ardupilot_msgs_msg_GlobalPosition& cmd_pos);
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static bool handle_velocity_control(geometry_msgs_msg_TwistStamped& cmd_vel);
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private:
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static bool convert_alt_frame(const uint8_t frame_in, Location::AltFrame& frame_out);
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};
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#endif // AP_DDS_ENABLED
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