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introduce offboard control mode topic

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Replace offboard_control_setpoint with offboard_control_mode
Remove all setpoint data from the topic as it's  not used anymore
(setpoint data is directly routed into position/attitude setpoint topics
for some time now)
Remove mode enum and replace with ignore booleans which map better to
the mavlink message
Mavlink: Rework parsing of offboard setpoints
Commander: in offboard mode set control flags based on ignore flags
instead of enum
This commit is contained in:
Thomas Gubler
2015-02-13 23:19:43 +01:00
parent 19811bc73f
commit 2b2f7e9407
7 changed files with 162 additions and 454 deletions
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src/modules/uORB/objects_common.cpp
+2 -2
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@@ -163,8 +163,8 @@ ORB_DEFINE(manual_control_setpoint, struct manual_control_setpoint_s);
#include "topics/vehicle_control_debug.h"
ORB_DEFINE(vehicle_control_debug, struct vehicle_control_debug_s);
#include "topics/offboard_control_setpoint.h"
ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s);
#include "topics/offboard_control_mode.h"
ORB_DEFINE(offboard_control_mode, struct offboard_control_mode_s);
#include "topics/optical_flow.h"
ORB_DEFINE(optical_flow, struct optical_flow_s);