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navigator move parameters out of MissionBlock

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- MissionBlock is an interface with > 10 implementations
This commit is contained in:
Daniel Agar
2017-10-26 22:43:53 +02:00
committed by Lorenz Meier
parent 8e457b6037
commit 4416c4ddb3
26 changed files with 291 additions and 352 deletions
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msg/position_setpoint.msg
+9 -2
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@@ -14,33 +14,40 @@ uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED
bool valid # true if setpoint is valid
uint8 type # setpoint type to adjust behavior of position controller
float32 x # local position setpoint in m in NED
float32 y # local position setpoint in m in NED
float32 z # local position setpoint in m in NED
bool position_valid # true if local position setpoint valid
float32 vx # local velocity setpoint in m/s in NED
float32 vy # local velocity setpoint in m/s in NED
float32 vz # local velocity setpoint in m/s in NED
bool velocity_valid # true if local velocity setpoint valid
uint8 velocity_frame # to set velocity setpoints in NED or body
bool alt_valid # do not set for 3D position control. Set to true if you want z-position control while doing vx,vy velocity control.
float64 lat # latitude, in deg
float64 lon # longitude, in deg
float32 alt # altitude AMSL, in m
float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
bool yaw_valid # true if yaw setpoint valid
bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode)
float32 yawspeed # yawspeed (only for multirotors, in rad/s)
bool yawspeed_valid # true if yawspeed setpoint valid
float32 loiter_radius # loiter radius (only for fixed wing), in m
int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW
float32 pitch_min # minimal pitch angle for fixed wing takeoff waypoints
float32 a_x # acceleration x setpoint
float32 a_y # acceleration y setpoint
float32 a_z # acceleration z setpoint
bool acceleration_valid # true if acceleration setpoint is valid/should be used
bool acceleration_is_force # interprete acceleration as force
float32 acceptance_radius # navigation acceptance_radius if we're doing waypoint navigation
float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint)