rates.hpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <Eigen/Core>
#include <px4_msgs/msg/vehicle_rates_setpoint.hpp>
#include <px4_ros2/common/setpoint_base.hpp>
 
namespace px4_ros2 {
class RatesSetpointType : public SetpointBase {
 public:
  explicit RatesSetpointType(Context& context);
 
  ~RatesSetpointType() override = default;
 
  SetpointType getSetpointType() override { return px4_msgs::msg::SetpointConfig::TYPE_RATES; }
 
  float desiredUpdateRateHz() override { return 200.f; }
 
  void update(const Eigen::Vector3f& rate_setpoints_frd_rad,
              const Eigen::Vector3f& thrust_setpoint_frd);
 
 private:
  rclcpp::Node& _node;
  rclcpp::Publisher<px4_msgs::msg::VehicleRatesSetpoint>::SharedPtr _vehicle_rates_setpoint_pub;
};
 
} /* namespace px4_ros2 */