OFFBOARD mode architecture overhaul (#16739)

- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
 - FlightTaskOffboard not needed at all
 - bypass position_setpoint_triplet entirely (start removing extraneous fields)
 - simplify offboard_control_mode to map to supported control modes

msg/offboard_control_mode.msg

@@ -2,12 +2,8 @@
 
 uint64 timestamp		# time since system start (microseconds)
 
-bool ignore_thrust
-bool ignore_attitude
-bool ignore_bodyrate_x
-bool ignore_bodyrate_y
-bool ignore_bodyrate_z
-bool ignore_position
-bool ignore_velocity
-bool ignore_acceleration_force
-bool ignore_alt_hold
+bool position
+bool velocity
+bool acceleration
+bool attitude
+bool body_rate

msg/position_setpoint.msg

@@ -8,8 +8,7 @@ uint8 SETPOINT_TYPE_LOITER=2	# loiter setpoint
 uint8 SETPOINT_TYPE_TAKEOFF=3	# takeoff setpoint
 uint8 SETPOINT_TYPE_LAND=4	# land setpoint, altitude must be ignored, descend until landing
 uint8 SETPOINT_TYPE_IDLE=5	# do nothing, switch off motors or keep at idle speed (MC)
-uint8 SETPOINT_TYPE_OFFBOARD=6 	# setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard
-uint8 SETPOINT_TYPE_FOLLOW_TARGET=7  # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target
+uint8 SETPOINT_TYPE_FOLLOW_TARGET=6  # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target
 
 uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED
 uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED
@@ -43,12 +42,6 @@ int8 landing_gear		# landing gear: see definition of the states in landing_gear.
 float32 loiter_radius		# loiter radius (only for fixed wing), in m
 int8 loiter_direction		# loiter direction: 1 = CW, -1 = CCW
 
-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)

msg/vehicle_command.msg

@@ -18,7 +18,6 @@ uint16 VEHICLE_CMD_NAV_VTOL_TAKEOFF = 84		# Takeoff from ground / hand and trans
 uint16 VEHICLE_CMD_NAV_VTOL_LAND = 85			# Transition to MC and land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude|
 uint16 VEHICLE_CMD_NAV_GUIDED_LIMITS = 90		# set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue.  0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue.  0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_NAV_GUIDED_MASTER = 91		# set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty|
-uint16 VEHICLE_CMD_NAV_GUIDED_ENABLE = 92		# hand control over to an external controller |On / Off (> 0.5f on)| Empty| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_NAV_DELAY = 93				# Delay the next navigation command a number of seconds or until a specified time |Delay in seconds (decimal, -1 to enable time-of-day fields)| hour (24h format, UTC, -1 to ignore)| minute (24h format, UTC, -1 to ignore)| second (24h format, UTC)| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_NAV_LAST = 95			# NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty|
 uint16 VEHICLE_CMD_CONDITION_DELAY = 112		# Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty|

msg/vehicle_control_mode.msg

@@ -8,13 +8,10 @@ bool flag_control_auto_enabled			# true if onboard autopilot should act
 bool flag_control_offboard_enabled		# true if offboard control should be used
 bool flag_control_rates_enabled			# true if rates are stabilized
 bool flag_control_attitude_enabled		# true if attitude stabilization is mixed in
-bool flag_control_yawrate_override_enabled		# true if the yaw rate override is enabled
 bool flag_control_rattitude_enabled		# true if rate/attitude stabilization is enabled
-bool flag_control_force_enabled			# true if force control is mixed in
-bool flag_control_acceleration_enabled			# true if acceleration is controlled
+bool flag_control_acceleration_enabled		# true if acceleration is controlled
 bool flag_control_velocity_enabled		# true if horizontal velocity (implies direction) is controlled
 bool flag_control_position_enabled		# true if position is controlled
 bool flag_control_altitude_enabled		# true if altitude is controlled
 bool flag_control_climb_rate_enabled		# true if climb rate is controlled
 bool flag_control_termination_enabled		# true if flighttermination is enabled
-bool flag_control_fixed_hdg_enabled			# true if using a fixed heading for user control

msg/vehicle_status_flags.msg

@@ -28,7 +28,6 @@ bool circuit_breaker_vtol_fw_arming_check 	# set to true if for VTOLs arming in
 
 bool offboard_control_signal_found_once
 bool offboard_control_signal_lost
-bool offboard_control_set_by_command                # true if the offboard mode was set by a mavlink command and should not be overridden by RC
 
 bool rc_signal_found_once
 bool rc_input_blocked                                # set if RC input should be ignored temporarily