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Add offboard mode swtich

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This commit adds a offboard mode switch module to enable using dedicated topics for offboard mode
This commit is contained in:
Jaeyoung Lim
2023-12-15 05:52:48 +01:00
parent ebae9ae3d7
commit 09824b831d
11 changed files with 453 additions and 1 deletions
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msg/TrajectorySetpoint.msg
+2
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@@ -13,3 +13,5 @@ float32[3] jerk # in meters/second^3 (for logging only)
float32 yaw # euler angle of desired attitude in radians -PI..+PI
float32 yawspeed # angular velocity around NED frame z-axis in radians/second
# TOPICS trajectory_setpoint offboard_trajectory_setpoint
msg/VehicleAttitudeSetpoint.msg
+1 -1
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@@ -17,4 +17,4 @@ bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
bool fw_control_yaw_wheel # control heading with steering wheel (used for auto takeoff on runway)
# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
# TOPICS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint offboard_attitude_setpoint
msg/VehicleRatesSetpoint.msg
+2
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@@ -10,3 +10,5 @@ float32 yaw # [rad/s] yaw rate setpoint
float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1]
bool reset_integral # Reset roll/pitch/yaw integrals (navigation logic change)
# TOPICS vehicle_rates_setpoint offboard_rates_setpoint