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[offboard] add thrust and torque control mode

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New thrust and torque control mode added which replaces the previous
actuator mode,
in this mode the rate controllers are disables, the control allocator
is enabled and the used externally provices
vehicle_thrust_setpoints and vehicle_torque_setpoints.

New direct_actuator mode
In direct_actuator mode the control allocator module does not publish
actuator_motors and actuator_servos messages which must instead be
provided extrernally by the user.

Removed old direct mode.

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
Beniamino Pozzan
2023-10-14 16:03:49 +01:00
committed by Daniel Agar
parent 6cc38776c8
commit 1c8f31f339
3 changed files with 22 additions and 7 deletions
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msg/OffboardControlMode.msg
+2 -1
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@@ -7,4 +7,5 @@ bool velocity
bool acceleration
bool attitude
bool body_rate
bool actuator
bool thrust_and_torque
bool direct_actuator