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OFFBOARD mode architecture overhaul (#16739)

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- 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
This commit is contained in:
Daniel Agar
2021-03-05 09:39:46 -05:00
committed by GitHub
parent 5233737a86
commit d0c9a5fc93
25 changed files with 392 additions and 1074 deletions
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msg/vehicle_control_mode.msg
+1 -4
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@@ -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