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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_params.c
+1 -1
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@@ -349,7 +349,7 @@ PARAM_DEFINE_INT32(COM_LOW_BAT_ACT, 0);
* @max 60
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 0.5f);
PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 1.0f);
/**
* Set offboard loss failsafe mode