void subscribe(Mavlink *mavlink)
{
pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_global_position));
pos = (struct vehicle_global_position_s *)pos_sub->get_data();
home_sub = mavlink->add_orb_subscription(ORB_ID(home_position));
home = (struct home_position_s *)home_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
status = (struct vehicle_status_s *)status_sub->get_data();
pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
pos_sp_triplet = (struct position_setpoint_triplet_s *)pos_sp_triplet_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
status = (struct vehicle_status_s *)status_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
att_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_attitude));
att = (struct vehicle_attitude_s *)att_sub->get_data();
pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_global_position));
pos = (struct vehicle_global_position_s *)pos_sub->get_data();
armed_sub = mavlink->add_orb_subscription(ORB_ID(actuator_armed));
armed = (struct actuator_armed_s *)armed_sub->get_data();
act_sub = mavlink->add_orb_subscription(ORB_ID(actuator_controls_0));
act = (struct actuator_controls_s *)act_sub->get_data();
airspeed_sub = mavlink->add_orb_subscription(ORB_ID(airspeed));
airspeed = (struct airspeed_s *)airspeed_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
orb_id_t act_topics[] = {
ORB_ID(actuator_outputs_0),
ORB_ID(actuator_outputs_1),
ORB_ID(actuator_outputs_2),
ORB_ID(actuator_outputs_3)
};
act_sub = mavlink->add_orb_subscription(act_topics[_n]);
act = (struct actuator_outputs_s *)act_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
home_sub = mavlink->add_orb_subscription(ORB_ID(home_position));
home = (struct home_position_s *)home_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
pos_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_vicon_position));
pos = (struct vehicle_vicon_position_s *)pos_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
rc_sub = mavlink->add_orb_subscription(ORB_ID(input_rc));
rc = (struct rc_input_values *)rc_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
gps_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_gps_position));
gps = (struct vehicle_gps_position_s *)gps_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
att_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_attitude));
att = (struct vehicle_attitude_s *)att_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
pos_sp_triplet_sub = mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
pos_sp_triplet = (struct position_setpoint_triplet_s *)pos_sp_triplet_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
att_rates_sp_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_rates_setpoint));
att_rates_sp = (struct vehicle_rates_setpoint_s *)att_rates_sp_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
range_sub = mavlink->add_orb_subscription(ORB_ID(sensor_range_finder));
range = (struct range_finder_report *)range_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
debug_sub = mavlink->add_orb_subscription(ORB_ID(debug_key_value));
debug = (struct debug_key_value_s *)debug_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
att_ctrl_sub = mavlink->add_orb_subscription(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
att_ctrl = (struct actuator_controls_s *)att_ctrl_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
flow_sub = mavlink->add_orb_subscription(ORB_ID(optical_flow));
flow = (struct optical_flow_s *)flow_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
manual_sub = mavlink->add_orb_subscription(ORB_ID(manual_control_setpoint));
manual = (struct manual_control_setpoint_s *)manual_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
pos_sp_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_local_position_setpoint));
pos_sp = (struct vehicle_local_position_setpoint_s *)pos_sp_sub->get_data();
}
void subscribe(Mavlink *mavlink)
{
sensor_sub = mavlink->add_orb_subscription(ORB_ID(sensor_combined));
sensor = (struct sensor_combined_s *)sensor_sub->get_data();
}
