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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_status_flags.msg
-1
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@@ -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