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px4-firmware
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added more setter and getter functions

This commit is contained in:
Roman Bapst 2014-11-05 08:51:12 +01:00
parent c51ec34118
commit 48cdbf3d0c
1 changed files with 12 additions and 7 deletions
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17
src/modules/mc_att_control/mc_att_control_base.h
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@ -76,6 +76,8 @@
#include <systemlib/perf_counter.h> #include <systemlib/perf_counter.h>
//#include <systemlib/systemlib.h> //#include <systemlib/systemlib.h>
#include <lib/mathlib/mathlib.h> #include <lib/mathlib/mathlib.h>
#include <Eigen/Eigen>
/** /**
@ -105,6 +107,14 @@ public:
* *
* @return OK on success. * @return OK on success.
*/ */
void control_attitude(float dt);
void control_attitude_rates(float dt);
// setters and getters for interface with euroc-gazebo simulator
void set_attitude(const Eigen::Quaternion<double> attitude);
void set_attitude_rates(const Eigen::Vector3d& angular_rate);
void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference);
void get_mixer_input(Eigen::Vector4d& motor_inputs);
void set_actuator_controls();
protected: protected:
@ -161,15 +171,10 @@ protected:
/** /**
* Attitude rates controller. * Attitude rates controller.
*/ */
void control_attitude(float dt);
void control_attitude_rates(float dt);
void vehicle_attitude_setpoint_poll(); //provisional void vehicle_attitude_setpoint_poll(); //provisional
// setters and getters for interface with euroc-gazebo simulator
void set_attitude(const Eigen::Quaternion<double>& attitude);
void set_attitude_rates(const Eigen::Vector3d& angular_rate);
void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference);