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px4-firmware
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add platforms/nuttx to default makefile

This commit is contained in:
Thomas Gubler 2014-12-08 15:09:31 +01:00
parent 377030bd8a
commit fe6663ad9a
1 changed files with 11 additions and 1 deletions
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12
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -103,6 +103,8 @@ public:
*/
int start();
void handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg);
private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _control_task; /**< task handle for sensor task */
@ -422,11 +424,13 @@ MulticopterAttitudeControl::task_main_trampoline(int argc, char *argv[])
void
MulticopterAttitudeControl::task_main()
{
px4::NodeHandle n;
/*
* do subscriptions
*/
_v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
// PX4_SUBSCRIBE(n, vehicle_attitude_setpoint, MulticopterAttitudeControl::handle_vehicle_attitude, this 0);
_v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
_v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
@ -582,6 +586,10 @@ MulticopterAttitudeControl::task_main()
_exit(0);
}
void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehicle_attitude) &msg) {
PX4_INFO("RCHandler class heard: [%llu]", msg.timestamp);
}
int
MulticopterAttitudeControl::start()
{
@ -603,8 +611,10 @@ MulticopterAttitudeControl::start()
return OK;
}
int mc_att_control_main(int argc, char *argv[])
PX4_MAIN_FUNCTION(mc_att_control)
{
px4::init(argc, argv, "mc_att_control");
if (argc < 1) {
errx(1, "usage: mc_att_control {start|stop|status}");
}