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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/tasks/Auto/FlightTaskAuto.hpp
-1
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@@ -66,7 +66,6 @@ enum class WaypointType : int {
takeoff = position_setpoint_s::SETPOINT_TYPE_TAKEOFF,
land = position_setpoint_s::SETPOINT_TYPE_LAND,
idle = position_setpoint_s::SETPOINT_TYPE_IDLE,
offboard = position_setpoint_s::SETPOINT_TYPE_OFFBOARD, // only part of this structure due to legacy reason. It is not used within the Auto flighttasks
follow_target = position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET,
};