fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-01 13:50:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

OFFBOARD mode architecture overhaul (#16739)

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/state_machine_helper.cpp
+7 -3
View File
@@ -905,7 +905,6 @@ void set_offboard_loss_nav_state(vehicle_status_s *status, actuator_armed_s *arm
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
return;
}
}
// If none of the above worked, try to mitigate
@@ -942,7 +941,13 @@ void set_offboard_loss_rc_nav_state(vehicle_status_s *status, actuator_armed_s *
return;
case offboard_loss_rc_actions_t::MANUAL_POSITION:
if (status_flags.condition_global_position_valid) {
if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& status_flags.condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
return;
} else if (status_flags.condition_global_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
return;
}
@@ -978,7 +983,6 @@ void set_offboard_loss_rc_nav_state(vehicle_status_s *status, actuator_armed_s *
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
return;
}
}
// If none of the above worked, try to mitigate