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Update offboard control uorb topic

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Work towards supporting the new external setpoint mavlink messages
This commit is contained in:
Thomas Gubler
2014-07-03 14:46:25 +02:00
parent 57f707af56
commit 839710daf8
5 changed files with 97 additions and 41 deletions
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src/modules/uORB/topics/offboard_control_setpoint.h
+27 -9
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@@ -53,11 +53,22 @@ enum OFFBOARD_CONTROL_MODE {
OFFBOARD_CONTROL_MODE_DIRECT = 0,
OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3,
OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4,
OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5,
OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6,
OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_NED = 3,
OFFBOARD_CONTROL_MODE_DIRECT_LOCAL_OFFSET_NED = 4,
OFFBOARD_CONTROL_MODE_DIRECT_BODY_NED = 5,
OFFBOARD_CONTROL_MODE_DIRECT_BODY_OFFSET_NED = 6,
OFFBOARD_CONTROL_MODE_DIRECT_GLOBAL = 7,
OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 8,
OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 9,
OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 10, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
};
enum OFFBOARD_CONTROL_FRAME {
OFFBOARD_CONTROL_FRAME_LOCAL_NED = 0,
OFFBOARD_CONTROL_FRAME_LOCAL_OFFSET_NED = 1,
OFFBOARD_CONTROL_FRAME_BODY_NED = 2,
OFFBOARD_CONTROL_FRAME_BODY_OFFSET_NED = 3,
OFFBOARD_CONTROL_FRAME_GLOBAL = 4
};
/**
@@ -70,10 +81,17 @@ struct offboard_control_setpoint_s {
enum OFFBOARD_CONTROL_MODE mode; /**< The current control inputs mode */
float p1; /**< ailerons roll / roll rate input */
float p2; /**< elevator / pitch / pitch rate */
float p3; /**< rudder / yaw rate / yaw */
float p4; /**< throttle / collective thrust / altitude */
double p1; /**< ailerons / roll / x pos / lat */
double p2; /**< elevator / pitch / y pos / lon */
float p3; /**< rudder / yaw / z pos / alt */
float p4; /**< throttle / x vel */
float p5; /**< roll rate / y vel */
float p6; /**< pitch rate / z vel */
float p7; /**< yaw rate / x acc */
float p8; /**< y acc */
float p9; /**< z acc */
bool ignore[9]; /**< if field i is set to true, pi should be ignored */
float override_mode_switch;