Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-23 22:58:10 +08:00
Code Issues Actions 15 Packages Projects Releases Wiki Activity

[uxrce_dds] add vehicle_thrust_setpoint, vehicle_torque_setpoint

Browse Source 
actuator_motors and actuator_servos subscribers for offboard control

Being subscribers, this does not increase the computational load
over the uxrce_dds brigde

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
Beniamino Pozzan
2023-10-15 13:25:00 +01:00
committed by Daniel Agar
parent 1c8f31f339
commit 742d237ae3
1 changed files with 12 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uxrce_dds_client/dds_topics.yaml
+12
View File
@@ -136,5 +136,17 @@ subscriptions:
- topic: /fmu/in/vehicle_trajectory_waypoint
type: px4_msgs::msg::VehicleTrajectoryWaypoint
- topic: /fmu/in/vehicle_thrust_setpoint
type: px4_msgs::msg::VehicleThrustSetpoint
- topic: /fmu/in/vehicle_torque_setpoint
type: px4_msgs::msg::VehicleTorqueSetpoint
- topic: /fmu/in/actuator_motors
type: px4_msgs::msg::ActuatorMotors
- topic: /fmu/in/actuator_servos
type: px4_msgs::msg::ActuatorServos
# Create uORB::PublicationMulti
subscriptions_multi: