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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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src/modules/commander/Commander.hpp
-2
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@@ -372,8 +372,6 @@ private:
bool _flight_termination_printed{false};
bool _system_power_usb_connected{false};
main_state_t _main_state_pre_offboard{commander_state_s::MAIN_STATE_MANUAL};
cpuload_s _cpuload{};
geofence_result_s _geofence_result{};
vehicle_land_detected_s _land_detector{};