fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 19:43:34 +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/fw_att_control/FixedwingAttitudeControl.cpp
+1 -2
View File
@@ -151,8 +151,7 @@ FixedwingAttitudeControl::vehicle_manual_poll()
}
}
if (!_vcontrol_mode.flag_control_climb_rate_enabled &&
!_vcontrol_mode.flag_control_offboard_enabled) {
if (!_vcontrol_mode.flag_control_climb_rate_enabled) {
if (_vcontrol_mode.flag_control_attitude_enabled) {
// STABILIZED mode generate the attitude setpoint from manual user inputs