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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/fw_pos_control_l1/FixedwingPositionControl.hpp
+5
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@@ -85,6 +85,7 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/uORB.h>
#include <vtol_att_control/vtol_type.h>
@@ -143,6 +144,7 @@ private:
uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
uORB::Subscription _trajectory_setpoint_sub{ORB_ID(trajectory_setpoint)};
uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
@@ -168,6 +170,9 @@ private:
perf_counter_t _loop_perf; ///< loop performance counter
map_projection_reference_s _global_local_proj_ref{};
float _global_local_alt0{NAN};
float _hold_alt{0.0f}; ///< hold altitude for altitude mode
float _takeoff_ground_alt{0.0f}; ///< ground altitude at which plane was launched
float _hdg_hold_yaw{0.0f}; ///< hold heading for velocity mode