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offboard sp: correctly map acceleration/force in combined setpoint to setpoint triple

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Conflicts:
	src/modules/uORB/topics/position_setpoint_triplet.h
This commit is contained in:
Thomas Gubler
2014-08-12 16:46:12 +02:00
parent a2e6b2bca0
commit 85eed22150
3 changed files with 53 additions and 12 deletions
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src/modules/uORB/topics/offboard_control_setpoint.h
+21
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@@ -142,14 +142,35 @@ inline bool offboard_control_sp_ignore_velocity_all(const struct offboard_contro
return false;
}
/**
* Returns true if the acceleration setpoint at index should be ignored
*/
inline bool offboard_control_sp_ignore_acceleration(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
return (bool)(offboard_control_sp.ignore & (1 << (6 + index)));
}
/**
* Returns true if all acceleration setpoints should be ignored
*/
inline bool offboard_control_sp_ignore_acceleration_all(const struct offboard_control_setpoint_s &offboard_control_sp) {
for (int i = 0; i < 3; i++) {
if (offboard_control_sp_ignore_acceleration(offboard_control_sp, i)) {
return true;
}
}
return false;
}
/**
* Returns true if the bodyrate setpoint at index should be ignored
*/
inline bool offboard_control_sp_ignore_bodyrates(const struct offboard_control_setpoint_s &offboard_control_sp, int index) {
return (bool)(offboard_control_sp.ignore & (1 << (9 + index)));
}
/**
* Returns true if the attitude setpoint should be ignored
*/
inline bool offboard_control_sp_ignore_attitude(const struct offboard_control_setpoint_s &offboard_control_sp) {
return (bool)(offboard_control_sp.ignore & (1 << 10));
}