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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_pos_control/MulticopterPositionControl.cpp
+9
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@@ -330,6 +330,15 @@ void MulticopterPositionControl::Run()
_vehicle_constraints.speed_up = _param_mpc_z_vel_max_up.get();
}
if (_control_mode.flag_control_offboard_enabled) {
_vehicle_constraints.want_takeoff = _control_mode.flag_armed && hrt_elapsed_time(&_setpoint.timestamp) < 1_s;
// override with defaults
_vehicle_constraints.speed_xy = _param_mpc_xy_vel_max.get();
_vehicle_constraints.speed_up = _param_mpc_z_vel_max_up.get();
_vehicle_constraints.speed_down = _param_mpc_z_vel_max_dn.get();
}
// handle smooth takeoff
_takeoff.updateTakeoffState(_control_mode.flag_armed, _vehicle_land_detected.landed, _vehicle_constraints.want_takeoff,
_vehicle_constraints.speed_up, false, time_stamp_now);