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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/mc_att_control/mc_att_control.hpp
-1
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@@ -103,7 +103,6 @@ private:
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _v_rates_sp_sub{ORB_ID(vehicle_rates_setpoint)}; /**< vehicle rates setpoint subscription */
uORB::Subscription _v_control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle control mode subscription */
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; /**< manual control setpoint subscription */
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */
src/modules/mc_att_control/mc_att_control_main.cpp
-10
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@@ -325,16 +325,6 @@ MulticopterAttitudeControl::Run()
Vector3f rates_sp = _attitude_control.update(q);
if (_v_control_mode.flag_control_yawrate_override_enabled) {
/* Yaw rate override enabled, overwrite the yaw setpoint */
vehicle_rates_setpoint_s v_rates_sp{};
if (_v_rates_sp_sub.copy(&v_rates_sp)) {
const float yawrate_sp = v_rates_sp.yaw;
rates_sp(2) = yawrate_sp;
}
}
// publish rate setpoint
vehicle_rates_setpoint_s v_rates_sp{};
v_rates_sp.roll = rates_sp(0);