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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/flight_mode_manager/FlightModeManager.cpp
-25
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@@ -204,31 +204,6 @@ void FlightModeManager::start_flight_task()
return;
}
// offboard
if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
&& (_vehicle_control_mode_sub.get().flag_control_altitude_enabled ||
_vehicle_control_mode_sub.get().flag_control_position_enabled ||
_vehicle_control_mode_sub.get().flag_control_climb_rate_enabled ||
_vehicle_control_mode_sub.get().flag_control_velocity_enabled ||
_vehicle_control_mode_sub.get().flag_control_acceleration_enabled)) {
should_disable_task = false;
FlightTaskError error = switchTask(FlightTaskIndex::Offboard);
if (error != FlightTaskError::NoError) {
if (prev_failure_count == 0) {
PX4_WARN("Offboard activation failed with error: %s", errorToString(error));
}
task_failure = true;
_task_failure_count++;
} else {
// we want to be in this mode, reset the failure count
_task_failure_count = 0;
}
}
// Auto-follow me
if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET) {
should_disable_task = false;